Chaitanya Shinde
A four-wheeled vehicular prototype which imitates the structure of a modern car of rear wheeled motor transmission and controlling it using an android app via Bluetooth using FRDMK64F
Revision 0:0e05a4590d3b, committed 2017-03-30
- Comitter:
- charlie316
- Date:
- Thu Mar 30 18:37:35 2017 +0000
- Commit message:
- A four-wheeled vehicular prototype which imitates the structure of a modern car of rear wheeled motor transmission and controlling it using an android app via Bluetooth using FRDMK64F.
Changed in this revision
diff -r 000000000000 -r 0e05a4590d3b Servo.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Servo.lib Thu Mar 30 18:37:35 2017 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/charlie316/code/Servo/#0d321bae8d78
diff -r 000000000000 -r 0e05a4590d3b main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Mar 30 18:37:35 2017 +0000
@@ -0,0 +1,268 @@
+/* Code for manual controls of Smart Auto Car using Bluetooth */
+#include "mbed.h"
+//#include "Map.hpp"
+
+#include "Servo.h"// The desired Servo sweep range is 60 degrees
+// But due to some mechanical Load errors it has been calibrated to 0 to 70 degrees
+// The front facing position varies from 27 degress to 38 degrees due to the servo motion slip.
+
+// Variable declaration
+Servo myservo(D3);// Object to declare the servo functionalities
+int pos = 33;// Default avg front facing posiion of the Servo
+int i;
+int j;
+int i1;
+int j1;
+
+int Flg=0; // Flag to enable motions (Forward, Backward, Stop state)
+int FlgSt = 0;// Unused Variable
+float Level = 0.30;// Variable to store the PWM Levels activated by the gear Button in the App.
+float pwm_Level;// Unused Variable
+// Function Initialisation
+void handleInput(int in);
+void drive_forward(float level);
+void drive_backward(float level);
+void Robot_Stop();
+
+Serial pc(USBTX,USBRX);//Tx Rx for Serial Communication (UART)(PC to Processor)
+Serial BT(PTC15,PTC14);// Tx Rx for Bluetooth Communication ()
+
+PwmOut ENApwm(D5); // Motor driver Enable A
+PwmOut ENBpwm(D6); // Motor driver Enable B
+
+// Setting coresponding pins to output mode for Motor movements
+DigitalOut LeftMotor_P1(D8);
+DigitalOut LeftMotor_P2(D9);
+DigitalOut RightMotor_P1(D11);
+DigitalOut RightMotor_P2(D10);
+
+
+// The main Function
+int main() {
+ pc.baud(9600);// UART communication in 9600 bits per seconds
+ BT.baud(9600);// Bluetooth communication in 9600 bits per seconds
+ // Printing some execution statements to ensure the controller is communicating properly.
+ pc.printf(" Hello User!\r\n");
+ printf(" Are You Ready \r\n");
+ // At the start set servo to its default front facing position
+ if(pos>33){
+ myservo = (27/100.0);
+ }
+ else{
+ myservo = (38/100.0);
+ }
+
+
+ while(1){ // run an infinite loop to read blutooth data & call corresponding navigation function
+ if (BT.readable()){ // Read incoming Bluetooth Data
+ int BT_Val = (int)(pc.putc(BT.getc()));// get the Ascii value of the incomming 1 byte data
+ //int i = atoi((int)BT_Val); // Convert it to Interger.
+ //BT_Val -='0';
+ pc.printf("%d \r\n",BT_Val); // print the Bluetooth data in serial Monitor for cross validation
+ // Bluetooth data below decimal 25 contains certain values for the button operations
+ // Bluetooth data above 25 triggers the PWM pins of EnA and EnB for motor speed control
+
+ if (BT_Val >= 25 && BT_Val <=100){
+ Level = ((float)BT_Val/100);
+ pc.printf("%f \r\n",Level);
+ //float pwm_Level = Level;
+ }
+ else if (BT_Val < 25){
+ handleInput(BT_Val);
+ }
+ if (Flg == 1){
+ drive_forward((float)Level);
+ }
+ else if (Flg == 2){
+ drive_backward((float)Level);
+ }
+ else if (Flg == 0){
+ Robot_Stop();
+ }
+
+ //if BT_Val == 'B'
+ }
+ }
+}
+
+// Function which calls specific execution for corresponding incomming Serial inputs from Bluetooth
+
+void handleInput(int in) {
+ switch(in) {
+ //Motor Rotation Controls
+ case 6 :// Forward Motion
+ Flg = 1;
+ break;
+ case 7 :
+ Flg = 2;// Backward Motion
+ break;
+ case 0 : // Robot Stop
+ Flg = 0;
+ break;
+ //Servo Rotation Controls
+ case 1:// Turn 30 degree Left and back to front facing
+ if (pos >0){
+ myservo = (pos/100.0);
+ for( j1=pos; j1>=0; j1--) {
+ myservo = (j1/100.0);
+ //printf("%f\r\n",myservo.read());
+ wait(0.01);
+ }
+ pos=j1;
+ for(i1=pos; i1<=38; i1++) {
+ myservo = (i1/100.0);
+ //printf("%f\r\n",myservo.read());
+ wait(0.01);
+ }
+ pos=i1;
+ }
+ else{
+ myservo = (0/100.0);
+ pos = 0;
+ for(i1=pos; i1<=38; i1++) {
+ myservo = (i1/100.0);
+ //printf("%f\r\n",myservo.read());
+ wait(0.01);
+ }
+ pos=i1;
+ }
+ break;
+
+ case 2: //Turn 30 degree Left
+ if (pos >0){
+ //myservo = (pos/100.0);
+ for( j1=pos; j1>=0; j1--) {
+ myservo = (j1/100.0);
+ // printf("%f\r\n",myservo.read());
+ wait(0.01);
+ }
+ pos=j1;
+ }
+ else{
+ myservo = (0/100.0);
+ }
+ break;
+
+ case 3: // Sweep Servo to forward position irrespective of its current position
+ if(pos >40){
+ //myservo = (pos/100.0);
+ for( j=pos; j>=27; j--) {
+ myservo = (j/100.0);
+ //printf("%f\r\n",myservo.read());
+ wait(0.01);
+ }
+ pos=j;
+
+ }
+ else if (pos < 25){
+ //myservo = (pos/100.0);
+ for(i1=pos; i1<=38; i1++) {
+ myservo = (i1/100.0);
+ //printf("%f\r\n",myservo.read());
+ wait(0.01);
+ }
+ pos=i1;
+
+ }
+ else{
+ myservo = (pos/100.0);
+ }
+ break;
+
+ case 4://Turn 30 degree Right
+ if (pos <70){
+ // myservo = (pos/100.0);
+ for(i=pos; i<=70; i++) {
+ myservo = (i/100.0);
+ //printf("%f\r\n",myservo.read());
+ wait(0.01);
+ }
+ pos=i;
+ }
+ else{
+ myservo = (70/100.0);
+ }
+ break;
+
+ case 5:// Turn 30 degree Right and back to front facing
+ if (pos <70){
+ //myservo = (pos/100.0);
+ for(i=pos; i<=70; i++) {
+ myservo = (i/100.0);
+ //printf("%f\r\n",myservo.read());
+ wait(0.01);
+ }
+ pos=i;
+ for( j=pos; j>=27; j--) {
+ myservo = (j/100.0);
+ //printf("%f\r\n",myservo.read());
+ wait(0.01);
+ }
+ pos=j;
+ }
+ else{
+ myservo = (70/100.0);
+ pos = 70;
+ for( j=pos; j>=27; j--) {
+ myservo = (j/100.0);
+ //printf("%f\r\n",myservo.read());
+ wait(0.01);
+ }
+ pos=j;
+ }
+ //break;
+ break;
+
+ case 8:// Turn Servo Left by 5 degrees irrespective of its current position
+ pos = pos-5;
+ myservo = (pos/100.0);
+ if (pos < 0){
+ pos = 0;
+ }
+ break;
+
+ case 9: // Turn Servo right by 5 degrees irrespective of its current position
+ pos = pos+5;
+ myservo = (pos/100.0);
+ if (pos > 70){
+ pos = 70;
+ }
+ break;
+
+ default:
+ pc.printf("I don't know: \"%d\"\n", in);
+ break;
+ }
+}
+
+// Function to move rear wheel DC motors forward
+
+void drive_forward(float level){
+ ENApwm.write(level);
+ ENBpwm.write(level);
+ LeftMotor_P1=1;
+ LeftMotor_P2=0;
+ RightMotor_P1=1;
+ RightMotor_P2=0;
+}
+
+// Function to move rear wheel DC motors backward
+void drive_backward(float level){
+ ENApwm.write(level);
+ ENBpwm.write(level);
+ LeftMotor_P1=0;
+ LeftMotor_P2=1;
+ RightMotor_P1=0;
+ RightMotor_P2=1;
+ }
+
+
+// Function to stop rear wheel motion
+void Robot_Stop() {
+ //ENApwm.write(level);
+ //ENBpwm.write(level);
+ LeftMotor_P1=1;
+ LeftMotor_P2=1;
+ RightMotor_P1=1;
+ RightMotor_P2=1;
+}
\ No newline at end of file
diff -r 000000000000 -r 0e05a4590d3b mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Mar 30 18:37:35 2017 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/ef9c61f8c49f \ No newline at end of file