Can Kocak
/
FRDM-KL25Z_WiFly_Access_Point_Mode_Zumo_RC
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Diff: main.cpp
- Revision:
- 0:414ffb85772d
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sat Jun 22 22:00:43 2013 +0000
@@ -0,0 +1,222 @@
+#include "mbed.h"
+#include "Wifly.h"
+
+//wifly instance is created with no security, without ssid and password
+Wifly wifly(PTD3, PTD2, PTC8, PTC7, NULL, NULL, NONE);
+
+Serial pc(USBTX,USBRX);
+
+//motor control pins
+DigitalOut dirRight(PTC9);
+DigitalOut dirLeft(PTA13);
+PwmOut pwmRight(PTD5);
+PwmOut pwmLeft(PTD0);
+
+//LED control pin. LED is located on Zumo Shield
+DigitalOut led(PTD1);
+
+//append function appends a char to
+void append(char* s, char c);
+
+//send function sends the given char* to wifly
+void sendString(char* str);
+
+int main() {
+ //factory reset Wifly
+ wifly.reset();
+ pc.printf("\nFactory Reset\n");
+ //reboot wifly
+ bool success = wifly.reboot();
+ pc.printf("Reboot: %d\n", success); //success = 1 -> successful process
+ //set TCP Listen port that will be used to 2000. You can set this to your preferred port number.
+ success = wifly.sendCommand("set ip local 2000\r", "AOK");
+ pc.printf("Local = 2000: %d\n", success); //success = 1 -> successful process
+ //make WiFly Module work as an Access Point
+ success = wifly.sendCommand("apmode\r", "AP mode");
+ pc.printf("AP Mode: %d\n", success); //success = 1 -> successful process
+
+ char str[15] = "";
+ int count = 0; //count will be used to count characters after finding 'L' for "Listen"
+ bool foundL = false; //will be made true when wifly sends 'L' character to mbed from its serial port
+ bool foundO = false; //will be made true when wifly sends 'O' character to mbed from its serial port
+
+ /*
+ After this state, the code will monitor input characters from WiFly and executes some code
+ after finding "Listen" or "OPEN" keywords
+ */
+
+ while(true) {
+ //get current character from wifly's serial port
+ char ch = wifly.getc();
+
+ //----Find "Listen" to find the port number----
+ if(!foundL) {
+ if(ch == 'L') {
+ foundL = true;
+ append(str, ch);
+ continue;
+ }
+ }
+ else {
+ if(count <= 4) {
+ append(str, ch);
+ count++;
+ continue;
+ }
+ else {
+ if(!strcmp(str, "Listen")) {
+ char portString[5] = "";
+ for(int i = 0; i < 7; i++) {
+ char portChar = wifly.getc();
+ if(i >= 3) {
+ append(portString, portChar);
+ }
+ }
+ //print the port number that WiFly Module listens
+ pc.printf("\nPort: %s", portString);
+ }
+ foundL = false;
+ count = 0;
+ str[0] = 0; //clear char* array
+ continue;
+ }
+ }
+ //----End of Find "Listen" to find the port number----
+
+ //----Find "OPEN" to find out if a TCP Connection is established----
+ if(!foundO) {
+ if(ch == 'O') {
+ foundO = true;
+ append(str, ch);
+ continue;
+ }
+ }
+ else {
+ if(count <= 2) {
+ append(str, ch);
+ count++;
+ continue;
+ }
+ else {
+ if(!strcmp(str, "OPEN")) { //"OPEN" is found, start the demo program
+ pc.printf("\nConnection Established!");
+ //commandChar will be used to store current character came from TCP
+ char commandChar = 0;
+ //when "CLOS" is received, connectionEnded will be made true and the while loop
+ //contains demo program will be ended
+ bool connectionEnded = false;
+ const int period = 60;
+ pwmRight.period_us(period);
+ pwmLeft.period_us(period);
+ int speed = 20;
+ do {
+ //get current character from TCP (using wifly)
+ commandChar = wifly.getc();
+ //When 'C' is received, this could be "CLOS" message,
+ //check this in else
+ if(commandChar != 'C') {
+
+ //You can send messages to the connected device with:
+ //wifly.putc(<char>);
+ //sendString(<char*>);
+ if(commandChar == '0') { //stop
+ pwmRight.pulsewidth_us(0);
+ pwmLeft.pulsewidth_us(0);
+ }
+ else if(commandChar == '1') { //forward
+ dirRight = 0;
+ dirLeft = 0;
+ pwmRight.pulsewidth_us(speed);
+ pwmLeft.pulsewidth_us(speed);
+ }
+ else if(commandChar == '2') { //backward
+ dirRight = 1;
+ dirLeft = 1;
+ pwmRight.pulsewidth_us(speed);
+ pwmLeft.pulsewidth_us(speed);
+ }
+ else if(commandChar == '3') { //right
+ dirRight = 1;
+ dirLeft = 0;
+ pwmRight.pulsewidth_us(speed);
+ pwmLeft.pulsewidth_us(speed);
+ }
+ else if(commandChar == '4') { //left
+ dirRight = 0;
+ dirLeft = 1;
+ pwmRight.pulsewidth_us(speed);
+ pwmLeft.pulsewidth_us(speed);
+ }
+ else if(commandChar == '5') { //forward right
+ dirRight = 0;
+ dirLeft = 0;
+ pwmRight.pulsewidth_us(speed/2);
+ pwmLeft.pulsewidth_us(speed);
+ }
+ else if(commandChar == '6') { //forward left
+ dirRight = 0;
+ dirLeft = 0;
+ pwmRight.pulsewidth_us(speed);
+ pwmLeft.pulsewidth_us(speed/2);
+ }
+ else if(commandChar == '7') { //backward right
+ dirRight = 1;
+ dirLeft = 1;
+ pwmRight.pulsewidth_us(speed/2);
+ pwmLeft.pulsewidth_us(speed);
+ }
+ else if(commandChar == '8') { //backward left
+ dirRight = 1;
+ dirLeft = 1;
+ pwmRight.pulsewidth_us(speed);
+ pwmLeft.pulsewidth_us(speed/2);
+ }
+ else if(commandChar == '9') { //speed0
+ speed = 0;
+ }
+ else if(commandChar == 'a') { //speed1
+ speed = 20;
+ }
+ else if(commandChar == 'b') { //speed2
+ speed = 40;
+ }
+ else if(commandChar == 'c') { //speed3
+ speed = 60;
+ }
+ }
+ else {
+ //construct 4 letter word from wifly serial connection and check if it is "CLOS" or not.
+ char closString[5] = "";
+ append(closString, commandChar);
+ for(int i = 0; i <= 2; i++) {
+ char closChar = wifly.getc();
+ append(closString, closChar);
+ }
+ //
+ if(!strcmp(closString, "CLOS")) {
+ pc.printf("\nConnection Closed!");
+ connectionEnded = true;
+ }
+ }
+ } while(!connectionEnded);
+ }
+ foundO = false;
+ count = 0;
+ str[0] = 0;
+ continue;
+ }
+ }
+ }
+}
+
+void append(char* s, char c) {
+ int len = strlen(s);
+ s[len] = c;
+ s[len+1] = '\0';
+}
+
+void sendString(char* str) {
+ for(int i = 0; i < strlen(str); i++) {
+ wifly.putc(str[i]);
+ }
+}
\ No newline at end of file