main.cpp

00001 //This Program is used to turn the LED ON/OFF via telent (Wifly connected)
00002 #include "mbed.h"
00003 #include "WiflyInterface.h"
00004 #include <string.h>
00005  
00006 #define ECHO_SERVER_PORT   7
00007 #define FWD 8
00008 #define REV 4
00009 #define LEFT 3
00010 #define RIGHT 1
00011 #define STOP 2
00012 #define STRAIGHT_WHEEL 7
00013  
00014  
00015 PwmOut servo(p22);
00016 DigitalOut dir(LED1);
00017 BusOut motor(p5,p6,p7,p8);
00018  
00019 //#define FWD 1
00020 //#define REV 0
00021  
00022  
00023 /* wifly interface:
00024 *     - p9 and p10 are for the serial communication
00025 *     - p19 is for the reset pin
00026 *     - p26 is for the connection status
00027 *     - "mbed" is the ssid of the network
00028 *     - "password" is the password
00029 *     - WPA is the security
00030 */
00031 //apps board
00032 WiflyInterface wifly(p9, p10, p30, p29, "MY_WIFI", "", NONE);
00033  
00034 //pololu
00035 //WiflyInterface wifly(p28, p27, p26, NC, "iotlab", "42F67YxLX4AawRdcj", WPA);
00036  
00037 int main() {
00038     
00039     wifly.init(); //Use DHCP
00040     printf("1\r\n");
00041     while (!wifly.connect());
00042     printf("IP Address is %s\n\r", wifly.getIPAddress());
00043     
00044    TCPSocketServer server;
00045     
00046     server.bind(ECHO_SERVER_PORT);
00047     server.listen();
00048  
00049     printf("\nWait for new connection...\n");
00050     TCPSocketConnection client;
00051     server.accept(client);
00052  
00053     char buffer[256];
00054     servo.period_us(50);
00055     motor = STOP;
00056     while (true) {
00057         //if (client.available()){
00058             int n = client.receive(buffer, sizeof(buffer));
00059             if (n <= 0) continue;
00060             buffer[n] = 0;
00061             printf("String is : %s\r\n",buffer);
00062  
00063             client.send_all(buffer, n);
00064             if (!(strcmp (buffer, "w")))
00065                 motor = FWD;
00066             else if (!(strcmp(buffer,"x")))
00067                 motor = REV;
00068             else if (!(strcmp(buffer,"z")))
00069                 motor = STRAIGHT_WHEEL;
00070             else if (!(strcmp(buffer,"d")))
00071                 motor = RIGHT;
00072             else if (!(strcmp(buffer,"a")))
00073                 motor = LEFT;
00074             else if (!(strcmp(buffer,"s")))
00075                 motor = STOP;
00076         //}
00077         servo.pulsewidth_us(10);
00078         wait_us(1);
00079     }
00080 }