David Whitney
ble controlled magician robot
Dependencies: BLE_nRF8001 Motordriver mbed
Revision 0:1be634fcf3e8, committed 2015-04-16
- Comitter:
- K_J
- Date:
- Thu Apr 16 21:07:54 2015 +0000
- Commit message:
- upload
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/BLE_nRF8001.lib Thu Apr 16 21:07:54 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/teams/RedBearLab/code/BLE_nRF8001/#e9a412d69201
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Motordriver.lib Thu Apr 16 21:07:54 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/littlexc/code/Motordriver/#3110b9209d3c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Apr 16 21:07:54 2015 +0000
@@ -0,0 +1,104 @@
+#include "mbed.h"
+#include "BLEPeripheral.h"
+#include "motordriver.h"
+#include "stdint.h"
+
+//*******************************
+// Must define Serial serial and SPI spi
+// BLE_RDY and BLE_REQ
+//*******************************
+
+Serial serial(USBTX, USBRX);
+// The SPI construct, REQN and RDYN IO construct should be modified manually
+// It depend on the board you are using and the REQN&RDYN configuration on BLE Shield
+SPI spi(p5, p6, p7);
+DigitalInOut BLE_RDY(p8);
+DigitalInOut BLE_REQ(p9);
+DigitalInOut BLE_RST(p10);
+
+//Motor Pins
+Motor left(p21, p22, p23, 1); //pwm fwd ref has brake feature
+Motor right(p26,p25,p24, 1);
+
+//maybe ir sensors
+
+/*----- BLE Utility -------------------------------------------------------------------------*/
+// create peripheral instance, see pinouts above
+BLEPeripheral blePeripheral = BLEPeripheral(&BLE_REQ, &BLE_RDY, &BLE_RST);
+
+// create service
+BLEService uartService = BLEService("713d0000503e4c75ba943148f18d941e");
+
+// create characteristic
+BLECharacteristic txCharacteristic = BLECharacteristic("713d0002503e4c75ba943148f18d941e", BLENotify, 20);
+BLECharacteristic rxCharacteristic = BLECharacteristic("713d0003503e4c75ba943148f18d941e", BLEWriteWithoutResponse, 20);
+/*--------------------------------------------------------------------------------------------*/
+
+
+unsigned char buf[16] = {0};
+unsigned char len = 0;
+
+
+int main()
+{
+
+ serial.baud(9600);
+ serial.printf("Serial begin!\r\n");
+
+/*----- BLE Utility ---------------------------------------------*/
+ // set advertised local name and service UUID
+ blePeripheral.setLocalName("BLE Shield");
+
+ blePeripheral.setAdvertisedServiceUuid(uartService.uuid());
+
+ // add service and characteristic
+ blePeripheral.addAttribute(uartService);
+ blePeripheral.addAttribute(rxCharacteristic);
+ blePeripheral.addAttribute(txCharacteristic);
+
+ // begin initialization
+ blePeripheral.begin();
+/*---------------------------------------------------------------*/
+ serial.printf("BLE UART Peripheral begin!\r\n");
+
+ while(1)
+ {
+ BLECentral central = blePeripheral.central();
+
+ if (central)
+ {
+ // central connected to peripheral
+ serial.printf("Connected to central\r\n");
+
+ int count = 0;
+ float leftval = 0;
+ float rightval = 0;
+ while (central.connected())
+ {
+ // central still connected to peripheral
+ if (rxCharacteristic.written())
+ {
+ count = 0;
+ unsigned char len = rxCharacteristic.valueLength();
+ const unsigned char *val = rxCharacteristic.value();
+
+ //1 = north, 2 = south, 3 = east, 4 = west
+ leftval = sqrt(pow((float)val[0]/255,2) + pow((float)val[2]/255,2)) - sqrt(pow((float)val[1]/255,2) + pow((float)val[3]/255,2));
+ rightval = sqrt(pow((float)val[0]/255,2) + pow((float)val[3]/255,2)) - sqrt(pow((float)val[1]/255,2) + pow((float)val[2]/255,2));
+
+ if (leftval > 1) leftval = 1;
+ if (leftval < -1) leftval = -1;
+ if (rightval > 1) rightval = 1;
+ if (rightval < -1) rightval = -1;
+
+ left.speed(leftval);
+ right.speed(rightval);
+
+ serial.printf("%f, %f\n", leftval, rightval);
+ }
+ }
+ // central disconnected
+ serial.printf("Disconnected from central\r\n");
+ }
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Apr 16 21:07:54 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/487b796308b0 \ No newline at end of file