Allen Wild / Mbed 2 deprecated 4180_Wiibot

Code to control a Traxster robot using a Wimote and Android app

Dependencies:   mbed

Fork of BlueUSB by Peter Barrett

main.cpp@1:accdaa84fe8d, 2014-04-28 (annotated)

Committer:
aswild
Date:
Mon Apr 28 16:06:32 2014 +0000
Revision:
1:accdaa84fe8d
Parent:
0:606b230e5b4a 
Wiimote controlled Traxster robot using BlueUSB

Who changed what in which revision?

UserRevisionLine numberNew contents of line
peterbarrett1967 0:606b230e5b4a 1 #include "mbed.h"
peterbarrett1967 0:606b230e5b4a 2 #include "USBHost.h"
peterbarrett1967 0:606b230e5b4a 3 #include "Utils.h"
peterbarrett1967 0:606b230e5b4a 4
aswild 1:accdaa84fe8d 5 Serial pc(USBTX, USBRX);
aswild 1:accdaa84fe8d 6 Serial rob(p13, p14);
aswild 1:accdaa84fe8d 7 DigitalIn modeSw(p19);
peterbarrett1967 0:606b230e5b4a 8
aswild 1:accdaa84fe8d 9 // because of wiring on the breadboard, these pins are connected to 5V or
aswild 1:accdaa84fe8d 10 // ground (for the robot and BlueSMiRF connections) so configure them as inputs
aswild 1:accdaa84fe8d 11 // to avoid shorting anything out
aswild 1:accdaa84fe8d 12 DigitalIn di11(p11);
aswild 1:accdaa84fe8d 13 DigitalIn di12(p12);
aswild 1:accdaa84fe8d 14 DigitalIn di15(p15);
aswild 1:accdaa84fe8d 15 DigitalIn di16(p16);
aswild 1:accdaa84fe8d 16
aswild 1:accdaa84fe8d 17 extern DigitalOut led1, led2, led3, led4;
aswild 1:accdaa84fe8d 18
aswild 1:accdaa84fe8d 19 Ticker failsafeTick;
aswild 1:accdaa84fe8d 20 time_t lastReportTime;
aswild 1:accdaa84fe8d 21
aswild 1:accdaa84fe8d 22 void failsafe()
peterbarrett1967 0:606b230e5b4a 23 {
aswild 1:accdaa84fe8d 24 time_t t = time(NULL);
aswild 1:accdaa84fe8d 25 if (t > lastReportTime+1)
peterbarrett1967 0:606b230e5b4a 26 {
aswild 1:accdaa84fe8d 27 rob.puts("stop\r");
aswild 1:accdaa84fe8d 28 led3 = 1;
peterbarrett1967 0:606b230e5b4a 29 }
peterbarrett1967 0:606b230e5b4a 30 }
peterbarrett1967 0:606b230e5b4a 31
aswild 1:accdaa84fe8d 32 void RunWiimote();
aswild 1:accdaa84fe8d 33 void RunAndroid();
peterbarrett1967 0:606b230e5b4a 34
peterbarrett1967 0:606b230e5b4a 35 int main()
peterbarrett1967 0:606b230e5b4a 36 {
aswild 1:accdaa84fe8d 37 modeSw.mode(PullDown);
aswild 1:accdaa84fe8d 38 rob.baud(19200);
aswild 1:accdaa84fe8d 39 set_time(9001);
aswild 1:accdaa84fe8d 40 failsafeTick.attach(&failsafe, 0.1);
aswild 1:accdaa84fe8d 41
aswild 1:accdaa84fe8d 42 printf("Vroom Vroom!\n");
aswild 1:accdaa84fe8d 43 if (modeSw)
aswild 1:accdaa84fe8d 44 RunWiimote();
aswild 1:accdaa84fe8d 45 else
aswild 1:accdaa84fe8d 46 RunAndroid();
peterbarrett1967 0:606b230e5b4a 47 }