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Code to control a Traxster robot using a Wimote and Android app
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Diff: Android.cpp
- Revision:
- 1:accdaa84fe8d
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Android.cpp Mon Apr 28 16:06:32 2014 +0000 @@ -0,0 +1,75 @@ +#include "mbed.h" + +extern Serial rob; +extern DigitalOut led1, led2, led3, led4; + +Serial bt(p9, p10); // tx, rx +DigitalIn d11(p11),d12(p12),d15(p15),d16(p16); +DigitalOut out(p18); +extern AnalogIn ir; + +char c; +int dir; +char garbage; +float y; +char stringIn[128]; +int valout; +int maxVel = 50; +int maxVelb = -maxVel; +int i=0; + +extern time_t lastReportTime; + +int RunAndroid() +{ + bt.baud(19200); + while(1) + { + if(bt.readable()) + { + i = 0; + while((c=bt.getc()) != '\0') + stringIn[i++] = c; + + stringIn[i]=0; + if(stringIn[0] == 'X') + sscanf(stringIn,"%s %d %f",&garbage, &dir,&y); + + if (abs(y) >= 500) + valout = -floor((2*(abs(y)-500)/1000)*maxVel); + else + valout = maxVel- floor((2*abs(y)/1000)*maxVel); + + bool wall = ir.read() > (2.0 / 3.3); + led4 = wall; + + if (wall && dir == 1) + rob.printf("stop\r"); + else if(dir == 1) + { + if (y <= 0) + rob.printf("mogo 1:%d 2:%d\r",maxVel, valout); + + else if (y>0) + rob.printf("mogo 1:%d 2:%d\r",valout,maxVel); + + } + else if(dir == -1) + { + valout = -valout; + + if (y <= 0) + rob.printf("mogo 1:%d 2:%d\r",-maxVel, valout); + + else if (y>0) + rob.printf("mogo 1:%d 2:%d\r",valout,-maxVel); + + } + else + rob.printf("stop\r"); + + lastReportTime = time(NULL); + led3 = 0; + } + } +}