Asha Harris / Mbed 2 deprecated blueTooth

Bluetooth Controlled Robot with IR Sensor

Dependencies:   Motor RemoteIR mbed

main.cpp@0:590527c95423, 2016-10-31 (annotated)

Committer:
ashatune
Date:
Mon Oct 31 13:49:57 2016 +0000
Revision:
0:590527c95423
for notebook page

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ashatune 0:590527c95423 1 #include "mbed.h"
ashatune 0:590527c95423 2 #include "Motor.h"
ashatune 0:590527c95423 3 #include "ReceiverIR.h"
ashatune 0:590527c95423 4 #include "Speaker.h"
ashatune 0:590527c95423 5
ashatune 0:590527c95423 6 //Asha Harris, Teferi Taylor
ashatune 0:590527c95423 7 //Hamblen ECE 4180 Lab 4 IoT Robot and IR sensor program
ashatune 0:590527c95423 8 // 10/27/16
ashatune 0:590527c95423 9
ashatune 0:590527c95423 10 AnalogIn irSens(p15);
ashatune 0:590527c95423 11 Speaker mySpeaker(p22);
ashatune 0:590527c95423 12
ashatune 0:590527c95423 13 BusOut myled(LED1,LED2,LED3,LED4);
ashatune 0:590527c95423 14 Serial blue(p28,p27);
ashatune 0:590527c95423 15
ashatune 0:590527c95423 16 //motor initializations..
ashatune 0:590527c95423 17 Motor A(p25, p6, p5); // pwm, fwd, rev, can brake
ashatune 0:590527c95423 18 Motor B(p26, p7, p8); // pwm, fwd, rev, can brake
ashatune 0:590527c95423 19 int main()
ashatune 0:590527c95423 20 {
ashatune 0:590527c95423 21 char bnum=0;
ashatune 0:590527c95423 22 char bhit=0;
ashatune 0:590527c95423 23 while(1) {
ashatune 0:590527c95423 24 //mySpeaker.PlayNote(969.0*irSens,0.6,0.1);
ashatune 0:590527c95423 25 if (blue.getc()=='!') {
ashatune 0:590527c95423 26 if (blue.getc()=='B') { //button data packet
ashatune 0:590527c95423 27 bnum = blue.getc(); //button number
ashatune 0:590527c95423 28 bhit = blue.getc(); //1=hit, 0=release
ashatune 0:590527c95423 29 if (blue.getc()==char(~('!' + 'B' + bnum + bhit))) { //checksum OK?
ashatune 0:590527c95423 30 myled = bnum - '0'; //current button number will appear on LEDs
ashatune 0:590527c95423 31 switch (bnum) {
ashatune 0:590527c95423 32 case '1': //number button 1
ashatune 0:590527c95423 33 if (bhit=='1') {
ashatune 0:590527c95423 34 myled[0] = 1;
ashatune 0:590527c95423 35 } else {
ashatune 0:590527c95423 36 myled[0] = 0;
ashatune 0:590527c95423 37 }
ashatune 0:590527c95423 38 break;
ashatune 0:590527c95423 39 case '2': //number button 2
ashatune 0:590527c95423 40 if (bhit=='1') {
ashatune 0:590527c95423 41 myled[1] = 1;
ashatune 0:590527c95423 42 } else {
ashatune 0:590527c95423 43 myled[1] = 0;
ashatune 0:590527c95423 44 }
ashatune 0:590527c95423 45 break;
ashatune 0:590527c95423 46 case '3': //number button 3
ashatune 0:590527c95423 47 if (bhit=='1') {
ashatune 0:590527c95423 48 myled[2] = 1;
ashatune 0:590527c95423 49 } else {
ashatune 0:590527c95423 50 myled[2] = 0;
ashatune 0:590527c95423 51 }
ashatune 0:590527c95423 52 break;
ashatune 0:590527c95423 53 case '4': //number button 4
ashatune 0:590527c95423 54 if (bhit=='1') {
ashatune 0:590527c95423 55 myled[3] = 1;
ashatune 0:590527c95423 56 } else {
ashatune 0:590527c95423 57 myled[3] = 0;
ashatune 0:590527c95423 58 }
ashatune 0:590527c95423 59 break;
ashatune 0:590527c95423 60 case '5': //button 5 up arrow "forward"
ashatune 0:590527c95423 61 if (bhit=='1') {
ashatune 0:590527c95423 62 A.speed(0.4);
ashatune 0:590527c95423 63 B.speed(0.4);
ashatune 0:590527c95423 64 mySpeaker.PlayNote(969.0*irSens,0.6,0.1); //speaker plays tone at frequency corresponding to IR sensor readings
ashatune 0:590527c95423 65 } else {
ashatune 0:590527c95423 66
ashatune 0:590527c95423 67 //A.stop(1);
ashatune 0:590527c95423 68 //B.stop(1);
ashatune 0:590527c95423 69 mySpeaker.PlayNote(969.0*irSens,0.6,0.1);
ashatune 0:590527c95423 70 }
ashatune 0:590527c95423 71 break;
ashatune 0:590527c95423 72 case '6': //button 6 down arrow "reverse"
ashatune 0:590527c95423 73 if (bhit=='1') {
ashatune 0:590527c95423 74 A.speed(-0.4);
ashatune 0:590527c95423 75 B.speed(-0.4);
ashatune 0:590527c95423 76 mySpeaker.PlayNote(969.0*irSens,0.6,0.1);
ashatune 0:590527c95423 77 } else {
ashatune 0:590527c95423 78 //A.stop(1);
ashatune 0:590527c95423 79 //B.stop(1);
ashatune 0:590527c95423 80 mySpeaker.PlayNote(969.0*irSens,0.6,0.1);
ashatune 0:590527c95423 81 }
ashatune 0:590527c95423 82 break;
ashatune 0:590527c95423 83 case '7': //button 7 left arrow "left"
ashatune 0:590527c95423 84 if (bhit=='1') {
ashatune 0:590527c95423 85 A.speed(.5);
ashatune 0:590527c95423 86 B.speed(-.5);
ashatune 0:590527c95423 87 mySpeaker.PlayNote(969.0*irSens,0.6,0.1);
ashatune 0:590527c95423 88 } else {
ashatune 0:590527c95423 89 A.speed(0);
ashatune 0:590527c95423 90 B.speed(0);
ashatune 0:590527c95423 91 mySpeaker.PlayNote(969.0*irSens,0.6,0.1);
ashatune 0:590527c95423 92
ashatune 0:590527c95423 93 }
ashatune 0:590527c95423 94 break;
ashatune 0:590527c95423 95 case '8': //button 8 right arrow "right"
ashatune 0:590527c95423 96 if (bhit=='1') {
ashatune 0:590527c95423 97 B.speed(.5);
ashatune 0:590527c95423 98 A.speed(-.5);
ashatune 0:590527c95423 99 mySpeaker.PlayNote(969.0*irSens,0.6,0.1);
ashatune 0:590527c95423 100 } else {
ashatune 0:590527c95423 101 B.speed(0);
ashatune 0:590527c95423 102 A.speed(0);
ashatune 0:590527c95423 103 mySpeaker.PlayNote(969.0*irSens,0.6,0.1);
ashatune 0:590527c95423 104 }
ashatune 0:590527c95423 105 break;
ashatune 0:590527c95423 106 default:
ashatune 0:590527c95423 107 break;
ashatune 0:590527c95423 108 }
ashatune 0:590527c95423 109 }
ashatune 0:590527c95423 110 }
ashatune 0:590527c95423 111 }
ashatune 0:590527c95423 112 }
ashatune 0:590527c95423 113 }