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

Committer:
Overdrivr
Date:
2016-02-16
Revision:
0:c5e974040f21
Child:
1:5a07069e17b6

File content as of revision 0:c5e974040f21:

#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; 
        }
    }
}