Scott Schultz / Mbed 2 deprecated 4180_lab4_RPC_bot_V2

Project for ECE4180. A Shadowbot with Remote Procedure Call controls. Found here: https://developer.mbed.org/users/Scout/notebook/shadowbot-with-remote-procedure-calls/

Dependencies:   4DGL-uLCD-SE mbed-rpc mbed

main.cpp@0:09bf5c3e5302, 2017-03-15 (annotated)

Committer:
Scout
Date:
Wed Mar 15 02:33:58 2017 +0000
Revision:
0:09bf5c3e5302
Final 4180 Lab 4 Project

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Scout 0:09bf5c3e5302 1 // Scout Schultz
Scout 0:09bf5c3e5302 2 // ECE4180 Lab 4 Project - Remote Procedure Call Bot
Scout 0:09bf5c3e5302 3
Scout 0:09bf5c3e5302 4 #include "mbed.h"
Scout 0:09bf5c3e5302 5 #include "mbed_rpc.h"
Scout 0:09bf5c3e5302 6 #include "uLCD_4DGL.h"
Scout 0:09bf5c3e5302 7
Scout 0:09bf5c3e5302 8 // Serial Interface - Comment Out One of the Two Lines and Uncomment The Other
Scout 0:09bf5c3e5302 9 Serial pc(p28,p27); //BlueTooth Control
Scout 0:09bf5c3e5302 10 //Serial pc(USBTX, USBRX); //PC Serial USB Control: For Testing Only
Scout 0:09bf5c3e5302 11
Scout 0:09bf5c3e5302 12 DigitalOut led1(LED1);
Scout 0:09bf5c3e5302 13 DigitalOut led2(LED2);
Scout 0:09bf5c3e5302 14 DigitalOut led3(LED3);
Scout 0:09bf5c3e5302 15 RpcDigitalOut led4(LED4,"led4");
Scout 0:09bf5c3e5302 16
Scout 0:09bf5c3e5302 17 // uLCD Setup
Scout 0:09bf5c3e5302 18 uLCD_4DGL uLCD(p9,p10,p11); // serial tx, serial rx, reset pin;
Scout 0:09bf5c3e5302 19 int bgColor = 0x000000;
Scout 0:09bf5c3e5302 20 int fgColor = 0xFFFFFF;
Scout 0:09bf5c3e5302 21
Scout 0:09bf5c3e5302 22 // Set up the motor pins
Scout 0:09bf5c3e5302 23 PwmOut motorACtrl(p26);
Scout 0:09bf5c3e5302 24 PwmOut motorBCtrl(p21);
Scout 0:09bf5c3e5302 25 DigitalOut backA(p25);
Scout 0:09bf5c3e5302 26 DigitalOut fwdA(p24);
Scout 0:09bf5c3e5302 27 //DigitalOut stby(p18);
Scout 0:09bf5c3e5302 28 DigitalOut fwdB(p23);
Scout 0:09bf5c3e5302 29 DigitalOut backB(p22);
Scout 0:09bf5c3e5302 30
Scout 0:09bf5c3e5302 31 void updateFace();
Scout 0:09bf5c3e5302 32
Scout 0:09bf5c3e5302 33 void drive(Arguments * input, Reply * output)
Scout 0:09bf5c3e5302 34 {
Scout 0:09bf5c3e5302 35 // Reset for simplicity sake
Scout 0:09bf5c3e5302 36 fwdA=0;
Scout 0:09bf5c3e5302 37 fwdB=0;
Scout 0:09bf5c3e5302 38 backA=0;
Scout 0:09bf5c3e5302 39 backB=0;
Scout 0:09bf5c3e5302 40 double speedL = input->getArg<double>();
Scout 0:09bf5c3e5302 41 double speedR = input->getArg<double>();
Scout 0:09bf5c3e5302 42 if(speedL < 0) {
Scout 0:09bf5c3e5302 43 speedL = -speedL;
Scout 0:09bf5c3e5302 44 backB = 1;
Scout 0:09bf5c3e5302 45 } else if(speedL > 0) {
Scout 0:09bf5c3e5302 46 fwdB = 1;
Scout 0:09bf5c3e5302 47 }
Scout 0:09bf5c3e5302 48
Scout 0:09bf5c3e5302 49 if(speedR < 0) {
Scout 0:09bf5c3e5302 50 speedR = -speedR;
Scout 0:09bf5c3e5302 51 backA = 1;
Scout 0:09bf5c3e5302 52 } else if(speedR > 0) {
Scout 0:09bf5c3e5302 53 fwdA = 1;
Scout 0:09bf5c3e5302 54 }
Scout 0:09bf5c3e5302 55
Scout 0:09bf5c3e5302 56 motorBCtrl = speedL;
Scout 0:09bf5c3e5302 57 motorACtrl = speedR;
Scout 0:09bf5c3e5302 58 updateFace();
Scout 0:09bf5c3e5302 59 }
Scout 0:09bf5c3e5302 60
Scout 0:09bf5c3e5302 61 RPCFunction setDrive(&drive,"drive");
Scout 0:09bf5c3e5302 62
Scout 0:09bf5c3e5302 63 void updateFace()
Scout 0:09bf5c3e5302 64 {
Scout 0:09bf5c3e5302 65 float fwdSurprise = 0.7;
Scout 0:09bf5c3e5302 66 float backSurprise = 0.4;
Scout 0:09bf5c3e5302 67 uLCD.cls();
Scout 0:09bf5c3e5302 68
Scout 0:09bf5c3e5302 69 // Too Fast is Scary
Scout 0:09bf5c3e5302 70 if( fwdA==1 && motorACtrl>fwdSurprise || fwdB==1 && motorBCtrl>fwdSurprise || backA==1 && motorACtrl>backSurprise || backB==1 && motorBCtrl>backSurprise) {
Scout 0:09bf5c3e5302 71 uLCD.cls();
Scout 0:09bf5c3e5302 72 //Open-Circle Mouth
Scout 0:09bf5c3e5302 73 uLCD.filled_circle(64,80,20,fgColor);
Scout 0:09bf5c3e5302 74 uLCD.filled_circle(64,80,15,bgColor);
Scout 0:09bf5c3e5302 75 //Eyes
Scout 0:09bf5c3e5302 76 uLCD.filled_circle(28,50,10,fgColor);
Scout 0:09bf5c3e5302 77 uLCD.filled_circle(100,50,10,fgColor);
Scout 0:09bf5c3e5302 78 }
Scout 0:09bf5c3e5302 79 // Stationary is Boring
Scout 0:09bf5c3e5302 80 else if( fwdA==0 && fwdB==0 && backA==0 && backB==0 ) {
Scout 0:09bf5c3e5302 81 uLCD.cls();
Scout 0:09bf5c3e5302 82 //Straight-Line Mouth
Scout 0:09bf5c3e5302 83 uLCD.filled_rectangle(34,77,94,82,fgColor);
Scout 0:09bf5c3e5302 84 //Eyes
Scout 0:09bf5c3e5302 85 uLCD.filled_circle(28,50,10,fgColor);
Scout 0:09bf5c3e5302 86 uLCD.filled_circle(100,50,10,fgColor);
Scout 0:09bf5c3e5302 87 }
Scout 0:09bf5c3e5302 88 // Nice movement speed is nice
Scout 0:09bf5c3e5302 89 else {
Scout 0:09bf5c3e5302 90 //Smile
Scout 0:09bf5c3e5302 91 uLCD.filled_circle(64,70,30,fgColor);
Scout 0:09bf5c3e5302 92 uLCD.filled_circle(64,70,25,bgColor);
Scout 0:09bf5c3e5302 93 uLCD.filled_rectangle(0,0,128,70,bgColor);
Scout 0:09bf5c3e5302 94 //Eyes
Scout 0:09bf5c3e5302 95 uLCD.filled_circle(28,50,10,fgColor);
Scout 0:09bf5c3e5302 96 uLCD.filled_circle(100,50,10,fgColor);
Scout 0:09bf5c3e5302 97 }
Scout 0:09bf5c3e5302 98 }
Scout 0:09bf5c3e5302 99
Scout 0:09bf5c3e5302 100
Scout 0:09bf5c3e5302 101 int main()
Scout 0:09bf5c3e5302 102 {
Scout 0:09bf5c3e5302 103 updateFace();
Scout 0:09bf5c3e5302 104
Scout 0:09bf5c3e5302 105 // receive commands, and send back the responses
Scout 0:09bf5c3e5302 106 char buf[256], outbuf[256];
Scout 0:09bf5c3e5302 107 while(1) {
Scout 0:09bf5c3e5302 108 if(pc.readable()) {
Scout 0:09bf5c3e5302 109 pc.gets(buf, 256);
Scout 0:09bf5c3e5302 110 strcat(buf, "\r"); //add LF to BlueFruit input
Scout 0:09bf5c3e5302 111 led2 = !led2;
Scout 0:09bf5c3e5302 112 //Call the call method on the RPC class
Scout 0:09bf5c3e5302 113 RPC::call(buf, outbuf);
Scout 0:09bf5c3e5302 114 pc.printf("%s\n", outbuf);
Scout 0:09bf5c3e5302 115 }
Scout 0:09bf5c3e5302 116 led1= !led1;
Scout 0:09bf5c3e5302 117 wait(0.2); //wait 200 ms
Scout 0:09bf5c3e5302 118 }
Scout 0:09bf5c3e5302 119 }