Dependencies: 4DGL-uLCD-SE mbed-rpc mbed
Revision 0:09bf5c3e5302, committed 2017-03-15
- Comitter:
- Scout
- Date:
- Wed Mar 15 02:33:58 2017 +0000
- Commit message:
- Final 4180 Lab 4 Project
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/4DGL-uLCD-SE.lib Wed Mar 15 02:33:58 2017 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/4180_1/code/4DGL-uLCD-SE/#2cb1845d7681
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Mar 15 02:33:58 2017 +0000
@@ -0,0 +1,119 @@
+// Scout Schultz
+// ECE4180 Lab 4 Project - Remote Procedure Call Bot
+
+#include "mbed.h"
+#include "mbed_rpc.h"
+#include "uLCD_4DGL.h"
+
+// Serial Interface - Comment Out One of the Two Lines and Uncomment The Other
+Serial pc(p28,p27); //BlueTooth Control
+//Serial pc(USBTX, USBRX); //PC Serial USB Control: For Testing Only
+
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+RpcDigitalOut led4(LED4,"led4");
+
+// uLCD Setup
+uLCD_4DGL uLCD(p9,p10,p11); // serial tx, serial rx, reset pin;
+int bgColor = 0x000000;
+int fgColor = 0xFFFFFF;
+
+// Set up the motor pins
+PwmOut motorACtrl(p26);
+PwmOut motorBCtrl(p21);
+DigitalOut backA(p25);
+DigitalOut fwdA(p24);
+//DigitalOut stby(p18);
+DigitalOut fwdB(p23);
+DigitalOut backB(p22);
+
+void updateFace();
+
+void drive(Arguments * input, Reply * output)
+{
+ // Reset for simplicity sake
+ fwdA=0;
+ fwdB=0;
+ backA=0;
+ backB=0;
+ double speedL = input->getArg<double>();
+ double speedR = input->getArg<double>();
+ if(speedL < 0) {
+ speedL = -speedL;
+ backB = 1;
+ } else if(speedL > 0) {
+ fwdB = 1;
+ }
+
+ if(speedR < 0) {
+ speedR = -speedR;
+ backA = 1;
+ } else if(speedR > 0) {
+ fwdA = 1;
+ }
+
+ motorBCtrl = speedL;
+ motorACtrl = speedR;
+ updateFace();
+}
+
+RPCFunction setDrive(&drive,"drive");
+
+void updateFace()
+{
+ float fwdSurprise = 0.7;
+ float backSurprise = 0.4;
+ uLCD.cls();
+
+ // Too Fast is Scary
+ if( fwdA==1 && motorACtrl>fwdSurprise || fwdB==1 && motorBCtrl>fwdSurprise || backA==1 && motorACtrl>backSurprise || backB==1 && motorBCtrl>backSurprise) {
+ uLCD.cls();
+ //Open-Circle Mouth
+ uLCD.filled_circle(64,80,20,fgColor);
+ uLCD.filled_circle(64,80,15,bgColor);
+ //Eyes
+ uLCD.filled_circle(28,50,10,fgColor);
+ uLCD.filled_circle(100,50,10,fgColor);
+ }
+ // Stationary is Boring
+ else if( fwdA==0 && fwdB==0 && backA==0 && backB==0 ) {
+ uLCD.cls();
+ //Straight-Line Mouth
+ uLCD.filled_rectangle(34,77,94,82,fgColor);
+ //Eyes
+ uLCD.filled_circle(28,50,10,fgColor);
+ uLCD.filled_circle(100,50,10,fgColor);
+ }
+ // Nice movement speed is nice
+ else {
+ //Smile
+ uLCD.filled_circle(64,70,30,fgColor);
+ uLCD.filled_circle(64,70,25,bgColor);
+ uLCD.filled_rectangle(0,0,128,70,bgColor);
+ //Eyes
+ uLCD.filled_circle(28,50,10,fgColor);
+ uLCD.filled_circle(100,50,10,fgColor);
+ }
+}
+
+
+int main()
+{
+ updateFace();
+
+ // receive commands, and send back the responses
+ char buf[256], outbuf[256];
+ while(1) {
+ if(pc.readable()) {
+ pc.gets(buf, 256);
+ strcat(buf, "\r"); //add LF to BlueFruit input
+ led2 = !led2;
+ //Call the call method on the RPC class
+ RPC::call(buf, outbuf);
+ pc.printf("%s\n", outbuf);
+ }
+ led1= !led1;
+ wait(0.2); //wait 200 ms
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-rpc.lib Wed Mar 15 02:33:58 2017 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/teams/mbed/code/mbed-rpc/#3b049dde55d7
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Mar 15 02:33:58 2017 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/e1686b8d5b90 \ No newline at end of file