Diff: main.cpp

Revision:

0:c0dc3a76f3d4

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Oct 17 13:27:56 2013 +0000
@@ -0,0 +1,161 @@
+#include "mbed.h"
+#include "math.h"
+#include "TextLCD.h"
+#include "rtos.h"
+#include "time.h"
+#include "Motor.h"
+#include "WiflyInterface.h"
+
+Mutex lock;
+WiflyInterface wireless(p9, p10, p19, p20, "mbed", "123456", WPA);
+Serial pc(USBTX, USBRX);
+Motor m1(p21, p7, p8);
+Motor m2(p22, p5, p6); // pwm, fwd, rev
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led4(LED4);
+DigitalOut led3(LED3);
+TextLCD lcd(p30, p29, p28, p27, p26, p25); // rs, e, d4-d7
+
+float left_motor = 0.0;
+float right_motor = 0.0;
+void ether_f(void const *args);
+void motor_f();
+void time_disp(void const *args);
+int main()
+{
+    Thread t1(time_disp);
+    Thread t2(ether_f);
+    while(1) {
+        motor_f();
+        Thread::wait(250);
+    }
+}
+void time_disp(void const *args)
+{
+    while(true) {
+        time_t temp = time(NULL);
+        lock.lock();
+        lcd.cls();
+        lcd.printf("%s\n", ctime(&temp));
+        lock.unlock();
+        Thread::wait(4000);
+
+        lock.lock();
+        lcd.cls();
+        lcd.printf("%s\n", wireless.getIPAddress());
+        lock.unlock();
+        Thread::wait(4000);
+    }
+}
+
+void motor_f()
+{
+    lock.lock();
+    lcd.cls();
+    lcd.printf("Testing Motor\n");
+    lock.unlock();
+    while (1) {
+        m2.speed(left_motor);
+        m1.speed(right_motor);
+    }
+}
+
+void ether_f(void const *args)
+{
+    pc.printf("Testing Internet Connection!\n");
+    led1 = 1;
+    wireless.init();
+    while (!wireless.connect()); // join the network
+    led2 = 1;
+    pc.printf("IP Address is %s\n\r", wireless.getIPAddress());
+    /* Code to Update RTC on mbed */
+    /*
+    UDPSocket sock;
+    sock.init();
+    Endpoint nist;
+    nist.set_address("time-a.nist.gov", 37);
+    char out_buffer[] = "plop"; // Does not matter
+    sock.sendTo(nist, out_buffer, sizeof(out_buffer));
+
+    char in_buffer[4];
+    int n = sock.receiveFrom(nist, in_buffer, sizeof(in_buffer));
+
+    unsigned int timeRes = ntohl( *((unsigned int*)in_buffer));
+    set_time(timeRes - 2208988800U - 4*3600);
+    pc.printf("Received %d bytes from server %s on port %d: %u seconds since 1/01/1900 00:00 GMT\n", n, nist.get_address(), nist.get_port(), timeRes);
+    time_t temp = time(NULL);
+    lcd.cls();
+    lcd.printf("%s\n", ctime(&temp));
+    sock.close();
+    */
+    UDPSocket server;
+    server.bind(7);
+
+    Endpoint client;
+    char buffer[256];
+    while (true) {
+        int n = server.receiveFrom(client, buffer, sizeof(buffer));
+        lock.lock();
+        lcd.cls();
+        lcd.printf("Received from:\n %s", client.get_address());
+        lock.unlock();
+        buffer[5] = NULL;
+        pc.printf("%s\n", buffer);
+        if (buffer[0] == '1') led1 = 1;
+        else led1 = 0;
+        if (buffer[1] == '1') led2 = 1;
+        else led2 = 0;
+        if (buffer[2] == '1') led3 = 1;
+        else led3 = 0;
+        if (buffer[3] == '1') led4 = 1;
+        else led4 = 0;
+
+        if (buffer[4] == '+') {
+            left_motor += 0.1;
+            if (left_motor > 1) left_motor = 1;
+        } else if (buffer[4] == '-') {
+            left_motor -= 0.1;
+            if (left_motor < -1) left_motor = -1;
+        } else if (buffer[4] == 'B') {
+            left_motor = 0;
+        } else if (buffer[4] == 'F') {
+            if (left_motor < 0) left_motor = -1;
+            else left_motor = 1;
+        }
+
+
+        if (buffer[4] == '+') {
+            right_motor += 0.1;
+            if (right_motor > 1) right_motor = 1;
+        } else if (buffer[4] == '-') {
+            right_motor -= 0.1;
+            if (right_motor < -1) right_motor = -1;
+        } else if (buffer[4] == 'B') {
+            right_motor = 0;
+        } else if (buffer[4] == 'F') {
+            if (right_motor < 0) right_motor = -1;
+            else right_motor = 1;
+        }
+
+        if (buffer[4] == 'L') {
+            right_motor += 0.05;
+            left_motor -= 0.05;
+            if (right_motor > 1) right_motor = 1;
+            if (left_motor < -1) left_motor = -1;
+        }
+
+        if (buffer[4] == 'R') {
+            right_motor -= 0.05;
+            left_motor += 0.05;
+            if (left_motor > 1) left_motor = 1;
+            if (right_motor < -1) right_motor = -1;
+        }
+        if (buffer[4] == 'S') {
+            float temp = (right_motor + left_motor)/2;
+            right_motor = temp;
+            left_motor = temp;
+        }
+    }
+    wireless.disconnect();
+}