Adrian Winata / Mbed 2 deprecated 4180_Project_BluetoothRCBot

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

Fork of adrianrobotproject by David Whitney

Files at this revision

API Documentation at this revision

Revision 1:81cca0074c0d, committed 2015-04-22

Comitter:
awinata
Date:
Wed Apr 22 23:19:46 2015 +0000
Parent:
0:1be634fcf3e8
Commit message:
First Release

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file 
diff -r 1be634fcf3e8 -r 81cca0074c0d main.cpp
--- a/main.cpp	Thu Apr 16 21:07:54 2015 +0000
+++ b/main.cpp	Wed Apr 22 23:19:46 2015 +0000
@@ -11,94 +11,94 @@
 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);  
+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 ref has brake feature
+// Motor pins
+Motor left(p21, p22, p23, 1); // pwm, fwd, rev, has brake feature
 Motor right(p26,p25,p24, 1);
 
-//maybe ir sensors
+// 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");
-        
-        int count = 0;
-        float leftval = 0;
-        float rightval = 0;
-        while (central.connected()) 
-        {
-          // central still connected to peripheral
-          if (rxCharacteristic.written()) 
-          {
-            count = 0;
-            unsigned char len = rxCharacteristic.valueLength();
-            const unsigned char *val = rxCharacteristic.value();
-            
-            //1 = north, 2 = south, 3 = east, 4 = 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));
-            
-            if (leftval > 1) leftval = 1;
-            if (leftval < -1) leftval = -1;
-            if (rightval > 1) rightval = 1;
-            if (rightval < -1) rightval = -1;
-            
-            left.speed(leftval);
-            right.speed(rightval);
-            
-            serial.printf("%f,   %f\n", leftval, rightval);
-          }
+    //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");
         }
-        // central disconnected
-        serial.printf("Disconnected from central\r\n");
-      }
     }
 }
\ No newline at end of file

diff -r 1be634fcf3e8 -r 81cca0074c0d mbed.bld
--- a/mbed.bld	Thu Apr 16 21:07:54 2015 +0000
+++ b/mbed.bld	Wed Apr 22 23:19:46 2015 +0000
@@ -1,1 +1,1 @@
-http://mbed.org/users/mbed_official/code/mbed/builds/487b796308b0
\ No newline at end of file
+http://mbed.org/users/mbed_official/code/mbed/builds/433970e64889
\ No newline at end of file