Remi Beges
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
Diff: main.cpp
- Revision:
- 0:c5e974040f21
- Child:
- 1:5a07069e17b6
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Feb 16 20:33:33 2016 +0000
@@ -0,0 +1,95 @@
+#include "mbed.h"
+#include "FRDM-TFC/TFC.h"
+#include "telemetry/driver.hpp"
+
+DigitalOut led(LED1);
+
+struct TM_state {
+ float direction;
+ float throttle;
+};
+
+void process(TM_state* carState, TM_msg* msg);
+
+int main()
+{
+ TM_state carState;
+ carState.direction = 0;
+ carState.throttle = 0;
+ Telemetry TM(&carState);
+ TM.sub(process);
+
+ led = 1;
+
+ TFC_Init();
+
+ Timer servo_timer;
+ Timer motor_timer;
+ Timer tm_timer;
+ Timer print_timer;
+
+ servo_timer.start();
+ motor_timer.start();
+ tm_timer.start();
+ print_timer.start();
+ TFC_HBRIDGE_ENABLE;
+ for(;;)
+ {
+ // update telemetry
+ if(tm_timer.read_ms() > 50)
+ {
+ tm_timer.reset();
+ TM.update();
+ }
+
+ // update servo control
+ if(servo_timer.read_ms() > 10)
+ {
+ servo_timer.reset();
+ TFC_SetServo(0, carState.direction);
+ }
+
+ // update motor control
+ if(motor_timer.read_ms() > 5)
+ {
+ motor_timer.reset();
+ TFC_SetMotorPWM(carState.throttle , carState.throttle);
+ }
+
+ // publish car state & blink a led
+ if(print_timer.read_ms() > 500)
+ {
+ print_timer.reset();
+ TM.pub_f32("direction",carState.direction);
+ TM.pub_f32("throttle",carState.throttle);
+ led = (led == 0) ? 1 : 0;
+ }
+ }
+}
+
+void process(TM_state* carState, TM_msg* msg)
+{
+ float value = 0.f;
+ if(strcmp(msg->topic,"direction") == 0)
+ {
+ if(emplace_f32(msg,&value))
+ {
+ if(value > 1.f)
+ value = 1.f;
+ if(value < -1.f)
+ value = -1.f;
+ carState->direction = value;
+ }
+ }
+ else if(strcmp(msg->topic,"throttle") == 0)
+ {
+ if(emplace_f32(msg,&value))
+ {
+ if(value > 1.f)
+ value = 1.f;
+ if(value < -1.f)
+ value = -1.f;
+ carState->throttle = value;
+ }
+ }
+}
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