Diff: main.cpp

Revision:

0:66c1c628e189

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Dec 09 14:32:59 2016 +0000
@@ -0,0 +1,374 @@
+#include "mbed.h"
+#include "Motor.h"
+#include "rtos.h"
+#include "ultrasonic.h"
+
+//Account for time (approx. 2min, see serial output in terminal) for wi-fi server to set up before navigation code begins!!
+
+Motor ma(p25, p14, p13);
+Motor mb(p24, p11, p12); // pwm, fwd, rev
+DigitalOut myled(LED1);
+DigitalOut led4(LED4);
+DigitalOut led3(LED3);
+
+//speaker/sd set up
+/*AnalogOut DACout(p18); //currently in pwm 26
+wave_player waver(&DACout);
+SDFileSystem sd(p5, p6, p7, p8, "sd");*/
+
+Serial pc(USBTX, USBRX);
+Serial esp(p28, p27); // tx, rx
+DigitalOut reset(p26);
+Timer t;
+
+int  count,ended,timeout;
+char buf[2024];
+char snd[1024];
+ 
+char ssid[32] = "iPhone";     // enter WiFi router ssid inside the quotes
+char pwd [32] = "Jordan23#"; // enter WiFi router password inside the quotes
+ 
+void SendCMD(),getreply(),ESPconfig(),ESPsetbaudrate();
+ void dev_recv()
+{
+    myled = myled;
+    while(esp.readable()) {
+        pc.putc(esp.getc());
+    }
+}
+ 
+void pc_recv()
+{
+    led4 = !led4;
+    while(pc.readable()) {
+        esp.putc(pc.getc());
+    }
+}
+ 
+
+DigitalIn Enc1(p21); //right motor... 
+DigitalIn Enc2(p22); //left motor
+int oldEnc1 = 0; 
+int oldEnc2 = 0;
+
+int ticksR = 0; //# times right wheel encoder changed state
+int ticksL = 0; //" "
+
+void dist1(int distance)
+{
+    //put code here to execute when the distance has changed
+    printf("Distance1 %d mm\r\n", distance);
+}
+void dist2(int distance2)
+{
+    //put code here to execute when the distance has changed
+    printf("Distance2 %d mm\r\n", distance2);
+}
+
+//Sonar1 variables
+ultrasonic mu1(p15, p16, .1, 1, &dist1);
+
+//Sonar2 variables
+ultrasonic mu2(p22, p21, .1, 1, &dist2);
+
+void wheelEnc(void const *argument){
+    while(1){
+        if(Enc1 != oldEnc1) { // Increment ticks every time the state has switched. 
+                ticksR++;
+                oldEnc1 = Enc1;
+
+            }
+       if(Enc2 != oldEnc2) {
+                ticksL++;
+                oldEnc2 = Enc2;
+            }
+        pc.printf("Left ticks: %d \n", ticksL);
+        pc.printf("Right ticks: %d \n", ticksR);
+        }
+    }
+    
+void sonarThread(void const *argument){
+    while(1){
+        mu1.checkDistance(); //front sonar
+        mu2.checkDistance(); //right side sonar
+        int muDist1 = mu1.getCurrentDistance();
+        int muDist2 = mu2.getCurrentDistance();
+
+        //always move straight forward
+        ma.speed(-.8); //Left motor
+        mb.speed(-.8); //Right motor
+        myled =0;
+
+        //Front sensor is not detecting a wall, but right side is too close
+        if ((muDist1 > 250) && (muDist2 < 170)){
+            ma.speed(-.2);
+            mb.speed(-.9); 
+        }
+        //Front sensor is not detecting a wall, but right side is too far
+        else if ((muDist1 > 250) && (muDist2 > 250)){
+            ma.speed(-.6); //turn
+            mb.speed(-0.4);
+        }
+        else if (muDist1 < 280){
+                ma.speed(1); //
+                mb.speed(-1);
+                wait(0.3);
+        }
+        else if ((muDist1 > 250) && (muDist2 > 500)){
+                ma.speed(-.8);
+                mb.speed(-.8);
+                wait(0.1);
+                mb.speed(1);
+                wait(0.1);
+        }
+        else {
+        ma.speed(-.8);
+        mb.speed(-.8);
+        wait(.1);
+        }
+        }
+    }
+///////////////////////////
+/*void audio_thread(void const *argument)
+{
+    ultra_mutex.lock();
+    FILE *wave_file;
+    wave_file=fopen("/sd/imperial_marchEdit.wav","r");
+    waver.play(wave_file);
+    fclose(wave_file);
+    ultra_mutex.unlock();
+}*/
+
+
+int main()
+{
+    led3 = 1;
+    wait(2);
+    reset=0; //hardware reset for 8266
+    pc.baud(9600);  // set what you want here depending on your terminal program speed
+    pc.printf("\f\n\r-------------ESP8266 Hardware Reset-------------\n\r");
+    wait(0.5);
+    reset=1;
+    timeout=2;
+    getreply();
+ 
+    esp.baud(9600);   // change this to the new ESP8266 baudrate if it is changed at any time.
+ 
+    //ESPsetbaudrate();   //******************  include this routine to set a different ESP8266 baudrate  ******************
+ 
+    ESPconfig();        //******************  include Config to set the ESP8266 configuration  ***********************
+ 
+ 
+ 
+    pc.attach(&pc_recv, Serial::RxIrq);
+    esp.attach(&dev_recv, Serial::RxIrq);
+    //start measuring the distance
+    mu1.startUpdates();
+    mu2.startUpdates();
+    
+    Enc1.mode(PullUp); // requires a pullup resistor so i just used embed's feature.
+    Enc2.mode(PullUp);
+    
+    Thread thread1(wheelEnc);
+    Thread thread2(sonarThread);
+    //Thread thread3(audio_thread);
+    //Thread thread4(wifiThread);
+
+    while(1) {
+        
+        Thread::wait(100);        
+
+    }
+}
+
+
+
+///WIFI SERVER GUI SETUP
+
+// Sets new ESP8266 baurate, change the esp.baud(xxxxx) to match your new setting once this has been executed
+void ESPsetbaudrate()
+{
+    strcpy(snd, "AT+CIOBAUD=115200\r\n");   // change the numeric value to the required baudrate
+    SendCMD();
+}
+ 
+//  +++++++++++++++++++++++++++++++++ This is for ESP8266 config only, run this once to set up the ESP8266 +++++++++++++++
+void ESPconfig()
+{
+
+    wait(5);
+    pc.printf("\f---------- Starting ESP Config ----------\r\n\n");
+        strcpy(snd,".\r\n.\r\n");
+    SendCMD();
+        wait(1);
+    pc.printf("---------- Reset & get Firmware ----------\r\n");
+    strcpy(snd,"node.restart()\r\n");
+    SendCMD();
+    timeout=5;
+    getreply();
+    pc.printf(buf);
+ 
+    wait(2);
+ 
+    pc.printf("\n---------- Get Version ----------\r\n");
+    strcpy(snd,"print(node.info())\r\n");
+    SendCMD();
+    timeout=4;
+    getreply();
+    pc.printf(buf);
+ 
+    wait(3);
+ 
+    // set CWMODE to 1=Station,2=AP,3=BOTH, default mode 1 (Station)
+    pc.printf("\n---------- Setting Mode ----------\r\n");
+    strcpy(snd, "wifi.setmode(wifi.STATION)\r\n");
+    SendCMD();
+    timeout=4;
+    getreply();
+    pc.printf(buf);
+ 
+    wait(2);
+ 
+   
+ 
+    pc.printf("\n---------- Listing Access Points ----------\r\n");
+    strcpy(snd, "function listap(t)\r\n");
+        SendCMD();
+        wait(1);
+        strcpy(snd, "for k,v in pairs(t) do\r\n");
+        SendCMD();
+        wait(1);
+        strcpy(snd, "print(k..\" : \"..v)\r\n");
+        SendCMD();
+        wait(1);
+        strcpy(snd, "end\r\n");
+        SendCMD();
+        wait(1);
+        strcpy(snd, "end\r\n");
+        SendCMD();
+        wait(1);
+        strcpy(snd, "wifi.sta.getap(listap)\r\n");
+    SendCMD();
+    wait(1);
+        timeout=15;
+    getreply();
+    pc.printf(buf);
+ 
+    wait(2);
+ 
+    pc.printf("\n---------- Connecting to AP ----------\r\n");
+    pc.printf("ssid = %s   pwd = %s\r\n",ssid,pwd);
+    strcpy(snd, "wifi.sta.config(\"");
+    strcat(snd, ssid);
+    strcat(snd, "\",\"");
+    strcat(snd, pwd);
+    strcat(snd, "\")\r\n");
+    SendCMD();
+    timeout=10;
+    getreply();
+    pc.printf(buf);
+ 
+    wait(5);
+ 
+    pc.printf("\n---------- Get IP's ----------\r\n");
+    strcpy(snd, "print(wifi.sta.getip())\r\n");
+    SendCMD();
+    timeout=3;
+    getreply();
+    pc.printf(buf);
+ 
+    wait(1);
+ 
+    pc.printf("\n---------- Get Connection Status ----------\r\n");
+    strcpy(snd, "print(wifi.sta.status())\r\n");
+    SendCMD();
+    timeout=5;
+    getreply();
+    pc.printf(buf);
+ 
+    pc.printf("\n\n\n  If you get a valid (non zero) IP, ESP8266 has been set up.\r\n");
+    pc.printf("  Run this if you want to reconfig the ESP8266 at any time.\r\n");
+    pc.printf("  It saves the SSID and password settings internally\r\n");
+    pc.printf(" Asha Harris and Teferi Lab 2 ");
+    wait(10);
+        
+        
+          pc.printf("\n---------- Setting up http server ----------\r\n");
+    strcpy(snd, "srv=net.createServer(net.TCP)\r\n");
+        SendCMD();
+        wait(1);
+        strcpy(snd, "srv:listen(80,function(conn)\r\n");
+        SendCMD();
+        wait(1);
+        strcpy(snd, "conn:on(\"receive\",function(conn,payload)\r\n");
+        SendCMD();
+        wait(1);
+        strcpy(snd, "print(payload)\r\n");
+        SendCMD();
+        wait(1);
+        
+        strcpy(snd, "conn:send(\"<!DOCTYPE html>\")\r\n");
+        SendCMD();
+      wait(1);
+        
+        strcpy(snd, "conn:send(\"<html>\")\r\n");
+        SendCMD();
+      wait(1);
+        
+        strcpy(snd, "conn:send(\"<h1> 4180 IOT Self Nav Robot </h1>\")\r\n");
+      SendCMD();
+        wait(1);
+        
+        sprintf(snd, "conn:send(\"%s'\")\r\n", ticksR);
+        SendCMD();
+        wait(1);
+        
+        strcpy(snd, "conn:send(\"<h2> cm.. </h2>\")\r\n");
+        SendCMD();
+        wait(1);
+        
+        strcpy(snd, "conn:send(\"</html>\")\r\n");
+    SendCMD();
+    wait(1);
+        
+        strcpy(snd, "end)\r\n");
+    SendCMD();
+    wait(1);
+        
+        strcpy(snd, "conn:on(\"sent\",function(conn) conn:close() end)\r\n");
+    SendCMD();
+    wait(1);
+        strcpy(snd, "end)\r\n");
+    SendCMD();
+    wait(1);
+        timeout=17;
+    getreply();
+    pc.printf(buf);
+        pc.printf("\r\nDONE");
+}
+ 
+void SendCMD()
+{
+    esp.printf("%s", snd);
+}
+ 
+void getreply()
+{
+    memset(buf, '\0', sizeof(buf));
+    t.start();
+    ended=0;
+    count=0;
+    while(!ended) {
+        if(esp.readable()) {
+            buf[count] = esp.getc();
+            count++;
+        }
+        if(t.read() > timeout) {
+            ended = 1;
+            t.stop();
+            t.reset();
+        }
+    }
+}
+ 
+    
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