Remi Beges / Mbed 2 deprecated telemetry_car_demo

RC-car remotely controlled from a computer. A demonstration of the power of Pytelemetry/telemetry. MIT Licensing.

Dependencies:   BufferedSerial FRDM-TFC mbed telemetry

Example of the 'Telemetry' library, a portable communication library for embedded devices. The PC-side of this code is hosted a github.com/Overdrivr/telemetry-examples

This code uses the car from the Freescale Cup competition initially dedicated to be a line-following racing car, and turns it into a full-blown radio-controlled car.

It is using a Bluetooth serial module to provide wireless connectivity. See the repository at github.com/Overdrivr/telemetry-examples for complete instructions on wiring everthing together.

Repo : TO BE DONE

main.cpp@2:74d5233b6284, 2016-03-09 (annotated)

Committer:
Overdrivr
Date:
Wed Mar 09 15:45:28 2016 +0000
Revision:
2:74d5233b6284
Parent:
1:5a07069e17b6 
headers include update

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Overdrivr 0:c5e974040f21 1 #include "mbed.h"
Overdrivr 2:74d5233b6284 2 #include "TFC.h"
Overdrivr 2:74d5233b6284 3 #include "Telemetry.hpp"
Overdrivr 1:5a07069e17b6 4
Overdrivr 1:5a07069e17b6 5 /*
Overdrivr 1:5a07069e17b6 6 Example of the 'Telemetry' library, a portable communication library for embedded devices.
Overdrivr 1:5a07069e17b6 7 The PC-side of this code is hosted a github.com/Overdrivr/telemetry-examples
Overdrivr 1:5a07069e17b6 8
Overdrivr 1:5a07069e17b6 9 This code uses the car from the Freescale Cup competition initially dedicated to be a
Overdrivr 1:5a07069e17b6 10 line-following racing car, and turns it into a full-blown radio-controlled car.
Overdrivr 1:5a07069e17b6 11
Overdrivr 1:5a07069e17b6 12 It is using a Bluetooth serial module to provide wireless connectivity. See the repository at
Overdrivr 1:5a07069e17b6 13 github.com/Overdrivr/telemetry-examples for complete instructions on wiring everthing together.
Overdrivr 1:5a07069e17b6 14
Overdrivr 1:5a07069e17b6 15 Repo : TO BE DONE
Overdrivr 1:5a07069e17b6 16 */
Overdrivr 0:c5e974040f21 17
Overdrivr 0:c5e974040f21 18 struct TM_state {
Overdrivr 0:c5e974040f21 19 float direction;
Overdrivr 0:c5e974040f21 20 float throttle;
Overdrivr 0:c5e974040f21 21 };
Overdrivr 0:c5e974040f21 22
Overdrivr 1:5a07069e17b6 23 // Definition of the callback function
Overdrivr 0:c5e974040f21 24 void process(TM_state* carState, TM_msg* msg);
Overdrivr 0:c5e974040f21 25
Overdrivr 0:c5e974040f21 26 int main()
Overdrivr 0:c5e974040f21 27 {
Overdrivr 1:5a07069e17b6 28 // Create a Telemetry instance, running on uart at 115200 bauds
Overdrivr 1:5a07069e17b6 29 Telemetry TM(115200);
Overdrivr 1:5a07069e17b6 30
Overdrivr 1:5a07069e17b6 31 // a data structure to hold writeable parameters
Overdrivr 1:5a07069e17b6 32 // i.e. the car direction and throttle that will be both be controlled from the laptop
Overdrivr 0:c5e974040f21 33 TM_state carState;
Overdrivr 0:c5e974040f21 34 carState.direction = 0;
Overdrivr 0:c5e974040f21 35 carState.throttle = 0;
Overdrivr 1:5a07069e17b6 36
Overdrivr 1:5a07069e17b6 37 // Suscribe our custom processing function (= callback function), and pass the data structure
Overdrivr 1:5a07069e17b6 38 // so that we can access it inside
Overdrivr 1:5a07069e17b6 39 // This way, everytime a frame is received, Telemetry will call this function for us,
Overdrivr 1:5a07069e17b6 40 // and pass the TM_state data structure to it.
Overdrivr 1:5a07069e17b6 41 TM.sub(process, &carState);
Overdrivr 0:c5e974040f21 42
Overdrivr 2:74d5233b6284 43 DigitalOut led(LED1);
Overdrivr 0:c5e974040f21 44 led = 1;
Overdrivr 1:5a07069e17b6 45
Overdrivr 1:5a07069e17b6 46 // Init the TheFreescaleCup shield
Overdrivr 0:c5e974040f21 47 TFC_Init();
Overdrivr 0:c5e974040f21 48
Overdrivr 1:5a07069e17b6 49 // Some timers... for timing :p
Overdrivr 0:c5e974040f21 50 Timer servo_timer;
Overdrivr 0:c5e974040f21 51 Timer motor_timer;
Overdrivr 0:c5e974040f21 52 Timer tm_timer;
Overdrivr 0:c5e974040f21 53 Timer print_timer;
Overdrivr 0:c5e974040f21 54
Overdrivr 0:c5e974040f21 55 servo_timer.start();
Overdrivr 0:c5e974040f21 56 motor_timer.start();
Overdrivr 0:c5e974040f21 57 tm_timer.start();
Overdrivr 0:c5e974040f21 58 print_timer.start();
Overdrivr 1:5a07069e17b6 59
Overdrivr 1:5a07069e17b6 60 // Activate the engines !
Overdrivr 0:c5e974040f21 61 TFC_HBRIDGE_ENABLE;
Overdrivr 1:5a07069e17b6 62
Overdrivr 0:c5e974040f21 63 for(;;)
Overdrivr 0:c5e974040f21 64 {
Overdrivr 2:74d5233b6284 65 TM.update();
Overdrivr 0:c5e974040f21 66
Overdrivr 0:c5e974040f21 67 // update servo control
Overdrivr 0:c5e974040f21 68 if(servo_timer.read_ms() > 10)
Overdrivr 0:c5e974040f21 69 {
Overdrivr 0:c5e974040f21 70 servo_timer.reset();
Overdrivr 0:c5e974040f21 71 TFC_SetServo(0, carState.direction);
Overdrivr 0:c5e974040f21 72 }
Overdrivr 0:c5e974040f21 73
Overdrivr 0:c5e974040f21 74 // update motor control
Overdrivr 0:c5e974040f21 75 if(motor_timer.read_ms() > 5)
Overdrivr 0:c5e974040f21 76 {
Overdrivr 0:c5e974040f21 77 motor_timer.reset();
Overdrivr 0:c5e974040f21 78 TFC_SetMotorPWM(carState.throttle , carState.throttle);
Overdrivr 0:c5e974040f21 79 }
Overdrivr 0:c5e974040f21 80
Overdrivr 0:c5e974040f21 81 // publish car state & blink a led
Overdrivr 2:74d5233b6284 82 if(print_timer.read_ms() > 200)
Overdrivr 0:c5e974040f21 83 {
Overdrivr 0:c5e974040f21 84 print_timer.reset();
Overdrivr 1:5a07069e17b6 85 // Publish the car parameters, so we can access them from the computer
Overdrivr 1:5a07069e17b6 86 TM.pub_f32("direction",carState.direction);
Overdrivr 0:c5e974040f21 87 TM.pub_f32("throttle",carState.throttle);
Overdrivr 1:5a07069e17b6 88 led = (led == 0) ? 1 : 0; // Toggle the led
Overdrivr 0:c5e974040f21 89 }
Overdrivr 0:c5e974040f21 90 }
Overdrivr 0:c5e974040f21 91 }
Overdrivr 0:c5e974040f21 92
Overdrivr 1:5a07069e17b6 93 // This is our processing function called every time a frame is received
Overdrivr 1:5a07069e17b6 94 // First parameter is a pointer to the data structure we defined in main
Overdrivr 1:5a07069e17b6 95 // Second parameter is a pointer to a data structure containing all info about received frame
Overdrivr 0:c5e974040f21 96 void process(TM_state* carState, TM_msg* msg)
Overdrivr 0:c5e974040f21 97 {
Overdrivr 1:5a07069e17b6 98 // temp variable
Overdrivr 0:c5e974040f21 99 float value = 0.f;
Overdrivr 1:5a07069e17b6 100 // If received topic == 'direction'
Overdrivr 0:c5e974040f21 101 if(strcmp(msg->topic,"direction") == 0)
Overdrivr 0:c5e974040f21 102 {
Overdrivr 1:5a07069e17b6 103 // If data type matches 'float32'
Overdrivr 0:c5e974040f21 104 if(emplace_f32(msg,&value))
Overdrivr 0:c5e974040f21 105 {
Overdrivr 1:5a07069e17b6 106 // Check values in order to avoid going beyond servomotor limits
Overdrivr 0:c5e974040f21 107 if(value > 1.f)
Overdrivr 0:c5e974040f21 108 value = 1.f;
Overdrivr 0:c5e974040f21 109 if(value < -1.f)
Overdrivr 0:c5e974040f21 110 value = -1.f;
Overdrivr 0:c5e974040f21 111 carState->direction = value;
Overdrivr 0:c5e974040f21 112 }
Overdrivr 0:c5e974040f21 113 }
Overdrivr 1:5a07069e17b6 114 // Idem for throttle
Overdrivr 0:c5e974040f21 115 else if(strcmp(msg->topic,"throttle") == 0)
Overdrivr 0:c5e974040f21 116 {
Overdrivr 0:c5e974040f21 117 if(emplace_f32(msg,&value))
Overdrivr 0:c5e974040f21 118 {
Overdrivr 0:c5e974040f21 119 if(value > 1.f)
Overdrivr 0:c5e974040f21 120 value = 1.f;
Overdrivr 0:c5e974040f21 121 if(value < -1.f)
Overdrivr 0:c5e974040f21 122 value = -1.f;
Overdrivr 0:c5e974040f21 123 carState->throttle = value;
Overdrivr 0:c5e974040f21 124 }
Overdrivr 0:c5e974040f21 125 }
Overdrivr 0:c5e974040f21 126 }