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Self-navigating IOT robot for ECE 4180. Before navigation code begins, wi-fi http server setup takes time (approx. 2 min, see serial output in terminal window)
Dependencies: HC_SR04_Ultrasonic_Library Motor mbed-rtos mbed
main.cpp
- Committer:
- ashatune
- Date:
- 2016-12-09
- Revision:
- 0:66c1c628e189
File content as of revision 0:66c1c628e189:
#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(); } } }