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 "C12832_lcd.h"
00005 #include <string.h>
00006  
00007 #define ECHO_SERVER_PORT   7
00008 #define FWD 3
00009 #define REV 4
00010 #define LEFT 1
00011 #define RIGHT 2
00012 #define STOP 0
00013 #define STRAIGHT_WHEEL 5
00014 #define servo_1 6
00015 #define servo_2 7
00016  
00017  
00018 PwmOut servo(p22);
00019 DigitalOut dir(LED1);
00020 BusOut motor(p5,p6,p7);
00021 C12832_LCD lcd;
00022 Serial pc(USBTX,USBRX); 
00023 //#define FWD 1
00024 //#define REV 0
00025  
00026  
00027 /* wifly interface:
00028 *     - p9 and p10 are for the serial communication
00029 *     - p19 is for the reset pin
00030 *     - p26 is for the connection status
00031 *     - "mbed" is the ssid of the network
00032 *     - "password" is the password
00033 *     - WPA is the security
00034 */
00035 //apps board
00036 WiflyInterface wifly(p9, p10, p30, p29, "MY_WIFI", "", NONE);
00037  
00038 //pololu
00039 //WiflyInterface wifly(p28, p27, p26, NC, "iotlab", "42F67YxLX4AawRdcj", WPA);
00040  
00041 int main() {
00042     
00043     wifly.init(); //Use DHCP
00044     printf("1\r\n");
00045     while (!wifly.connect());
00046     lcd.printf("IP Address is %s\n\r", wifly.getIPAddress());
00047     
00048    TCPSocketServer server;
00049     
00050     server.bind(ECHO_SERVER_PORT);
00051     server.listen();
00052     lcd.cls();
00053     lcd.printf("\nWait for new connection...\n");
00054     TCPSocketConnection client;
00055     server.accept(client);
00056     lcd.locate(0,20);
00057     lcd.printf("Server accept\r\n");
00058     
00059     char buffer[256];
00060     servo.period_us(50);
00061     motor = STOP;
00062     while (true) {
00063         //if (client.available()){
00064             int n = client.receive(buffer, sizeof(buffer));
00065             if (n <= 0) continue;
00066             buffer[n] = 0;
00067             pc.printf("String is : %s\r\n",buffer);
00068  
00069             client.send_all(buffer, n);
00070             if (!(strcmp (buffer, "w")))
00071                 motor = FWD;
00072             else if (!(strcmp(buffer,"x")))
00073                 motor = REV;
00074             else if (!(strcmp(buffer,"z")))
00075                 motor = STRAIGHT_WHEEL;
00076             else if (!(strcmp(buffer,"d")))
00077                 motor = RIGHT;
00078             else if (!(strcmp(buffer,"a")))
00079                 motor = LEFT;
00080             else if (!(strcmp(buffer,"s")))
00081                 motor = STOP;
00082             else if (!(strcmp(buffer,"o")))
00083                 motor = servo_1;
00084             else if (!(strcmp(buffer,"p")))
00085                 motor = servo_2;
00086         //}
00087         servo.pulsewidth_us(10);
00088         wait_us(1);
00089     }
00090 }