Rohit Imandi
The user controls the car via bluetooth through the Bluefruit LE app. The user can switch between a "sem-auto" mode and a manual mode.
Dependencies: Motor Ultrasonic_HCSR04_HelloWorld_code mbed
Introduction :
This is a mini-project for the final semester of my sophomore year on assembling and interfacing a semi-automatic bluetooth controlled car with the help of mbed-LPC1768. This was one of the semester projects intended for evaluation to fulfill the requirements for attaining an undergraduate degree ( Bachelor's of Technology) in Electronics and Communication Engineering.
The user can switch to an "auto-pilot" like mode by activating the functionality of the sonar sensor, thus giving complete control to the user by allowing the user to switch between manual and semi-autopilot mode. When an obstacle is detected by the sensor the bot is stopped by the sensor. Differential torque has been used to turn the car.
Future Prospectives :
(1) Adding a few more sonar sensors on the bot to detect objects surrounding it simultaneously and automate the whole process or allowing the user to switch between a complete autopilot mode, a semi-autopilot mode and a manual mode.
(2) Integrating Simultaneous Localization and Mapping (SLAM) with the bot so that it can update a map of an unknown environment while simultaneously keeping track of an agent’s location within it using deep neural networks. (3) Adding a few gas and dust sensors to make a mobile weather station.
References :
The references mentioned below were of great help :
- [1] https://os.mbed.com/users/jlogreira3/notebook/bluetooth-controlled-robot-mini-design-project/
- [2]https://en.wikipedia.org/wiki/Torque_vectoring
- [3] https://learn.sparkfun.com/tutorials/assembly-guide-for-redbot-with-shadow-chassis
I would also like to acknowledge jlogreira3 for his/her project.
Diff: main.cpp
- Revision:
- 0:c37818d82347
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sat May 19 10:52:32 2018 +0000
@@ -0,0 +1,141 @@
+// Project
+#include "mbed.h"
+#include "Motor.h"
+#include "ultrasonic.h"
+
+Serial pc (USBTX, USBRX);
+BusOut myled(LED1,LED2,LED3,LED4);
+Serial blue(p28,p27);
+Motor motorA(p23, p6, p5); // pwm, fwd, rev
+Motor motorB(p24, p11, p12); // pwm, fwd, rev
+
+int dist;
+
+void dist_func(int distance)
+{
+ //put code here to execute when the distance has changed
+ pc.printf("Distance %d mm\r\n", distance);
+ dist = distance;
+}
+ultrasonic mu(p6, p7, .1, 1, &dist_func);
+
+int main()
+{
+ float motorSpeed_A = 0.0;
+ float motorSpeed_B = 0.0;
+ char bnum = 0;
+ char bhit = 0;
+ mu.startUpdates();//start measuring the distance
+ while(1)
+ {
+ motorA.speed(motorSpeed_A);
+ motorB.speed(motorSpeed_B);
+ if (blue.getc() == '!') {
+ if (blue.getc() == 'B') { //button data packet
+ bnum = blue.getc(); //button number
+ bhit = blue.getc(); //1=hit, 0=release
+ if (blue.getc() == char(~('!' + 'B' + bnum + bhit))) { //checksum OK?
+ myled = bnum - '1'; //current button number will appear on LEDs
+ switch (bnum) {
+ case '1' : // number button 1
+ if (bhit == '1'){
+ }
+ else {
+ mu.checkDistance();
+ if (dist <= 50){
+ motorSpeed_A = 0.0; // Stop
+ motorSpeed_B = 0.0; // Stop
+ }
+ }
+ break;
+ case '2' : // number button 2
+ if (bhit == '1'){
+ }
+ else {
+ motorSpeed_A -= 0.2; // decreasing speed
+ motorSpeed_B -= 0.2; // decreasing speed
+ }
+ break;
+ case '3' : // number button 3
+ if(bhit == '1'){
+ }
+ else {
+ motorSpeed_A = 0.0; // Stop
+ motorSpeed_B = 0.0; // Stop
+ }
+ break;
+ case '4' : // Reverse Rotation
+ // Hitting 4 on the numpad activates reverse mode and turns
+ if (bhit == '1'){
+ }
+ else {
+ if (blue.getc() == '!') {
+ if (blue.getc() == 'B') { //button data packet
+ bnum = blue.getc(); //button number
+ bhit = blue.getc(); //1=hit, 0=release
+ if (blue.getc() == char(~('!' + 'B' + bnum + bhit))) {
+ // For reverse turn
+ myled = bnum - '1';
+ switch (bnum) {
+ case '7' : // arrow left
+ if (bhit == '1'){
+ }
+ else {
+ motorSpeed_A = -0.5;
+ motorSpeed_B = -0.1;
+ }
+ break;
+ case '8' : // arrow right
+ if (bhit == '1'){
+ }
+ else {
+ motorSpeed_A = -0.1;
+ motorSpeed_B = -0.5;
+ }
+ default:
+ break;
+ }
+ }
+ }
+ }
+ break;
+ case '5' : // arrow up button
+ if (bhit == '1') {
+ //add hit code here
+ motorSpeed_A += 0.2; // increasing speed
+ motorSpeed_B += 0.2; // increasing speed
+ }
+ break;
+ case '6' : // arrow down
+ if (bhit == '1') {
+ }
+ else {
+ motorSpeed_A -= 0.2; // decreasing speed
+ motorSpeed_B -= 0.2; // decreasing speed
+ }
+ break;
+ case '7' : // arrow left
+ if (bhit == '1'){
+ }
+ else {
+ motorSpeed_A = 0.5;
+ motorSpeed_B = 0.1;
+ }
+ break;
+ case '8' : // arrow right
+ if (bhit == '1'){
+ }
+ else {
+ motorSpeed_A = 0.1;
+ motorSpeed_B = 0.5;
+ }
+ //break;
+ default :
+ break;
+ }
+ }
+ }
+ }
+ }
+ }
+ }
\ No newline at end of file