Use a simple iOS application to control a Magician Robot via Bluetooth LE. A virtual joystick is used on the iOS device to manipulate two differentially controlled PWM motors on the Magician Robot. Three degrees of freedom is possible (any direction on the cartesian coordinate, rotation about an axis, and speed control).
Dependencies: BLE_nRF8001 Motordriver mbed
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main.cpp
- Committer:
- awinata
- Date:
- 2015-04-22
- Revision:
- 1:81cca0074c0d
- Parent:
- 0:1be634fcf3e8
File content as of revision 1:81cca0074c0d:
#include "mbed.h" #include "BLEPeripheral.h" #include "motordriver.h" #include "stdint.h" //******************************* // Must define Serial serial and SPI spi // BLE_RDY and BLE_REQ //******************************* Serial serial(USBTX, USBRX); // The SPI construct, REQN and RDYN IO construct should be modified manually // It depend on the board you are using and the REQN&RDYN configuration on BLE Shield SPI spi(p5, p6, p7); DigitalInOut BLE_RDY(p8); DigitalInOut BLE_REQ(p9); DigitalInOut BLE_RST(p10); // Motor pins Motor left(p21, p22, p23, 1); // pwm, fwd, rev, has brake feature Motor right(p26,p25,p24, 1); // IR sensors //AnalogIn ir_c(p20); // center //AnalogIn ir_l(p19); // left //AnalogIn ir_r(p18); // right /*----- BLE Utility -------------------------------------------------------------------------*/ // create peripheral instance, see pinouts above BLEPeripheral blePeripheral = BLEPeripheral(&BLE_REQ, &BLE_RDY, &BLE_RST); // create service BLEService uartService = BLEService("713d0000503e4c75ba943148f18d941e"); // create characteristic BLECharacteristic txCharacteristic = BLECharacteristic("713d0002503e4c75ba943148f18d941e", BLENotify, 20); BLECharacteristic rxCharacteristic = BLECharacteristic("713d0003503e4c75ba943148f18d941e", BLEWriteWithoutResponse, 20); /*--------------------------------------------------------------------------------------------*/ // Bluetooth variables unsigned char buf[16] = {0}; unsigned char len = 0; // Motor variables float leftval = 0; float rightval = 0; int main() { //serial.baud(9600); //serial.printf("Serial begin!\r\n"); /*----- BLE Utility ---------------------------------------------*/ // set advertised local name and service UUID blePeripheral.setLocalName("BLE Shield"); blePeripheral.setAdvertisedServiceUuid(uartService.uuid()); // add service and characteristic blePeripheral.addAttribute(uartService); blePeripheral.addAttribute(rxCharacteristic); blePeripheral.addAttribute(txCharacteristic); // begin initialization blePeripheral.begin(); //serial.printf("BLE UART Peripheral begin!\r\n"); /*---------------------------------------------------------------*/ while(1) { BLECentral central = blePeripheral.central(); if(central) { // central connected to peripheral //serial.printf("Connected to central\r\n"); while (central.connected()) { // central still connected to peripheral if (rxCharacteristic.written()) { unsigned char len = rxCharacteristic.valueLength(); const unsigned char *val = rxCharacteristic.value(); // Calculate differential motor values from cartesian joystick coordinates // 0 = north, 1 = south, 2 = east, 3 = west leftval = sqrt(pow((float)val[0]/255,2) + pow((float)val[2]/255,2)) - sqrt(pow((float)val[1]/255,2) + pow((float)val[3]/255,2)); rightval = sqrt(pow((float)val[0]/255,2) + pow((float)val[3]/255,2)) - sqrt(pow((float)val[1]/255,2) + pow((float)val[2]/255,2)); // Windup compensation if (leftval > 1) leftval = 1; if (leftval < -1) leftval = -1; if (rightval > 1) rightval = 1; if (rightval < -1) rightval = -1; // Set motor speed values left.speed(leftval); right.speed(rightval); //serial.printf("%f, %f\n", leftval, rightval); } } // central disconnected //serial.printf("Disconnected from central\r\n"); } } }