Louae Tyoan
Reciever Mbed program for "Magician Mobile Robot Arm"
Dependencies: Motordriver Servo mbed nRF24L01P
Revision 0:57045933b470, committed 2014-10-21
- Comitter:
- bedlou
- Date:
- Tue Oct 21 16:53:51 2014 +0000
- Commit message:
- Reciever Mbed Code for "Magician Mobile Robot Arm"
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Motordriver.lib Tue Oct 21 16:53:51 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/littlexc/code/Motordriver/#3110b9209d3c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Servo.lib Tue Oct 21 16:53:51 2014 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/simon/code/Servo/#36b69a7ced07
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Oct 21 16:53:51 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/552587b429a1 \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/nRF24L01P.lib Tue Oct 21 16:53:51 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/Owen/code/nRF24L01P/#8ae48233b4e4
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/p4rec.cpp Tue Oct 21 16:53:51 2014 +0000
@@ -0,0 +1,111 @@
+#include "mbed.h"
+#include "Servo.h"
+#include "nRF24L01P.h"
+#include "motordriver.h"
+Serial pc(USBTX, USBRX); // tx, rx
+
+nRF24L01P NRFR(p5, p6, p7, p8, p9, p10); // mosi, miso, sck, csn, ce, irq
+
+//PwmOut led1(LED1); Beware, This will push PWM limits
+//PwmOut led2(LED2);
+//PwmOut led3(LED3);
+//PwmOut led4(LED4);
+
+Motor left(p21, p19, p20, 1); // pwm, fwd, rev, has brake feature
+Motor right(p22, p17, p18, 1);
+
+Servo base(p23);
+Servo shoulder(p24);
+Servo elbow(p25);
+Servo claw(p26);
+
+int main() {
+
+// The nRF24L01+ supports transfers from 1 to 32 bytes, but Sparkfun's
+// "Nordic Serial Interface Board" (http://www.sparkfun.com/products/9019)
+// only handles 4 byte transfers in the ATMega code.
+#define TRANSFER_SIZE 17
+
+ char rxData[TRANSFER_SIZE];
+ int rxDataCnt = 0;
+
+ NRFR.powerUp();
+
+ // Display the (default) setup of the nRF24L01+ chip
+ pc.printf( "nRF24L01+ Frequency : %d MHz\r\n", NRFR.getRfFrequency() );
+ pc.printf( "nRF24L01+ Output power : %d dBm\r\n", NRFR.getRfOutputPower() );
+ pc.printf( "nRF24L01+ Data Rate : %d kbps\r\n", NRFR.getAirDataRate() );
+ pc.printf( "nRF24L01+ TX Address : 0x%010llX\r\n", NRFR.getTxAddress() );
+ pc.printf( "nRF24L01+ RX Address : 0x%010llX\r\n", NRFR.getRxAddress() );
+
+ pc.printf( "Recieved Data:\r\n", TRANSFER_SIZE );
+
+ NRFR.setTransferSize( TRANSFER_SIZE );
+
+ NRFR.setReceiveMode();
+ NRFR.enable();
+
+ int LSL,RSL,VER,HOR;
+ float FLSL,FRSL,FVER,FHOR;
+
+ base.calibrate(0.0006, 45.0);
+ shoulder.calibrate(0.0006, 45.0);
+ elbow.calibrate(0.0010, 45.0);
+ claw.calibrate(0.0004, 45.0);
+ float basepos = 0.5, armpos = 0.1;
+ while (1) {
+
+
+ // If we've received anything in the nRF24L01+...
+ if ( NRFR.readable() ) {
+ // ...read the data into the receive buffer
+ rxDataCnt = NRFR.read( NRF24L01P_PIPE_P0, rxData, sizeof( rxData ) );
+ if(rxData[16] == 'a') //error checking
+ {
+ LSL = (rxData[3] << 24) + (rxData[2] << 16) + (rxData[1] << 8) + rxData[0];
+ FLSL = float(LSL) / 1000;
+ //led1 = FLSL;
+
+ VER = (rxData[7] << 24) + (rxData[6] << 16) + (rxData[5] << 8) + rxData[4];
+ FVER = float(VER) / 1000;
+ //led2 = FVER;
+
+ HOR = (rxData[11] << 24) + (rxData[10] << 16) + (rxData[9] << 8) + rxData[8];
+ FHOR = float(HOR) / 1000;
+ //led3 = FHOR;
+
+ RSL = (rxData[15] << 24) + (rxData[14] << 16) + (rxData[13] << 8) + rxData[12];
+ FRSL = float(RSL) / 1000;
+ //led4 = FRSL;
+
+ //Output speed
+ left.speed(-(2*FLSL-1));
+ right.speed(-(2*FRSL-1));
+
+ //Velocity control
+ if(basepos > 0.9)
+ basepos = 0.9;
+ else if(basepos < 0.1)
+ basepos = 0.1;
+ else{
+ if((FHOR > 0.6)||(FHOR <0.4))
+ basepos = basepos + (FHOR -0.5)/1000;}
+
+ if(armpos > 0.9)
+ armpos = 0.9;
+ else if(armpos < 0.1)
+ armpos = 0.1;
+ else{
+ if((FVER > 0.6)||(FVER <0.4))
+ armpos = armpos + (FVER -0.5)/1000;}
+
+ //output servo
+ base = basepos;
+ shoulder = armpos;
+ elbow = armpos;
+ claw = armpos;
+
+ }
+ }
+ }
+}
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