Diff: main.cpp

Revision:

0:414ffb85772d

diff -r 000000000000 -r 414ffb85772d main.cpp
--- /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