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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
Revision 0:66c1c628e189, committed 2016-12-09
- Comitter:
- ashatune
- Date:
- Fri Dec 09 14:32:59 2016 +0000
- Commit message:
- IOT self navigating robot code for GaTech ECE 4180 final project.
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HC_SR04_Ultrasonic_Library.lib Fri Dec 09 14:32:59 2016 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/ejteb/code/HC_SR04_Ultrasonic_Library/#e0f9c9fb4cf3
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Motor.lib Fri Dec 09 14:32:59 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/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(); + } + } +} + + \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-rtos.lib Fri Dec 09 14:32:59 2016 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/mbed_official/code/mbed-rtos/#58563e6cba1e
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Fri Dec 09 14:32:59 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/d75b3fe1f5cb \ No newline at end of file