Revision 0:908e99bd0369, committed 2016-03-15

Comitter:

Zaydax

Date:

Tue Mar 15 22:10:56 2016 +0000

Commit message:

Publishing to make available to import.

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Motor.lib	Tue Mar 15 22:10:56 2016 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/simon/code/Motor/#f265e441bcd9

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Speaker.h	Tue Mar 15 22:10:56 2016 +0000
@@ -0,0 +1,52 @@
+class Speaker
+{
+public:
+    Speaker(PinName pin) : _pin(pin) {
+// _pin(pin) means pass pin to the Speaker Constructor
+// precompute 32 sample points on one sine wave cycle
+// used for continuous sine wave output later
+        for(int k=0; k<32; k++) {
+            Analog_out_data[k] = int (65536.0 * ((1.0 + sin((float(k)/32.0*6.28318530717959)))/2.0));
+            // scale the sine wave to 16-bits - as needed for AnalogOut write_u16 arg
+        }
+
+    }
+// class method to play a note based on AnalogOut class
+    void PlayNote(float frequency, float duration, float volume) {
+        // scale samples using current volume level arg
+        for(int k=0; k<32; k++) {
+            Analog_scaled_data[k] = Analog_out_data[k] * volume;
+        }
+        // reset to start of sample array
+        i=0;
+        // turn on timer interrupts to start sine wave output
+        Sample_Period.attach(this, &Speaker::Sample_timer_interrupt, 1.0/(frequency*32.0));
+        // play note for specified time
+        wait(duration);
+        // turns off timer interrupts
+        Sample_Period.detach();
+        // sets output to mid range - analog zero
+        this->_pin.write_u16(32768);
+
+    }
+private:
+// sets up specified pin for analog using AnalogOut class
+    AnalogOut _pin;
+    // set up a timer to be used for sample rate interrupts
+    Ticker Sample_Period;
+
+    //variables used by interrupt routine and PlayNote
+    volatile int i;
+    short unsigned Analog_out_data[32];
+    short unsigned Analog_scaled_data[32];
+
+// Interrupt routine
+// used to output next analog sample whenever a timer interrupt occurs
+    void Sample_timer_interrupt(void) {
+        // send next analog sample out to D to A
+        this->_pin.write_u16(Analog_scaled_data[i]);
+        // increment pointer and wrap around back to 0 at 32
+        i = (i+1) & 0x01F;
+    }
+};
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Mar 15 22:10:56 2016 +0000
@@ -0,0 +1,87 @@
+// Pratik Gangwani 
+// Justin Tamayo 
+// 3/15/16
+// ECE 4180 Lab 4; Wi-Fi controlled robot
+// C File to run MBEd anc control motor, LED, and speaker functions by reading in digital signals from Huzzah 8266 board
+
+#include "mbed.h"
+#include "Motor.h"
+#include "Speaker.h"
+
+//Define MBED LED's for use
+DigitalOut myled1(LED1);
+DigitalOut myled2(LED2);
+DigitalOut myled3(LED3);
+DigitalOut myled4(LED4);
+
+// Define Digital Pins to read in digital signals from Huzzah 8266 board
+DigitalIn forward(p30);
+DigitalIn backward(p29);
+DigitalIn left(p28);
+DigitalIn right(p27);
+DigitalIn horn(p26);
+
+// Define Motor pins to connect to H-Bridge
+Motor rightMotor(p21, p16, p15); // pwm, fwd, rev
+Motor leftMotor(p22, p19, p17); // pwm, fwd, rev
+
+// Define Speaker pin (MUST BE PIN 18, ANALOG OUT for use with Speaker.h!)
+Speaker mySpeaker(p18);
+
+int main() {
+
+// Loop forever
+// Check to see if a pin is high. If that pin is high, execute that pin for as long as the signal is high on that pin. 
+// When you let go on the mouse click the code defaults to doing nothing
+// Each pin moves the robot in a particular direction, and activates a specific LED
+// Horn will not run forever if you hold it down, it is simply a click
+// Setting speed to 0.5 on the motors saves a lot of battery power
+
+    while(1){
+        
+        if(forward) {
+            rightMotor.speed(0.5);
+            leftMotor.speed(0.5);
+            myled1 = 1;
+            myled2 = 0;
+            myled3 = 0;
+            myled4 = 0;
+        } else if(backward) {
+            rightMotor.speed(-0.5);
+            leftMotor.speed(-0.5);
+            myled1 = 0;
+            myled2 = 1;
+            myled3 = 0;
+            myled4 = 0;
+        } else if(left) {
+            rightMotor.speed(0.5);
+            leftMotor.speed(-0.5);
+            myled1 = 0;
+            myled2 = 0;
+            myled3 = 1;
+            myled4 = 0;
+        } else if(right) {
+            rightMotor.speed(-0.5);
+            leftMotor.speed(0.5);
+            myled1 = 0;
+            myled2 = 0;
+            myled3 = 0;
+            myled4 = 1;
+        } else if(horn) {
+            rightMotor.speed(0.0);
+            leftMotor.speed(0.0);
+            myled1 = 1;
+            myled2 = 1;
+            myled3 = 1;
+            myled4 = 1;
+            mySpeaker.PlayNote(440.0, 0.5, 0.5);
+        } else {
+            rightMotor.speed(0.0);
+            leftMotor.speed(0.0);
+            myled1 = 0;
+            myled2 = 0;
+            myled3 = 0;
+            myled4 = 0;
+        }
+    }
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Tue Mar 15 22:10:56 2016 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/87f2f5183dfb
\ No newline at end of file