Chris Price
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Dependencies: Motordriver mbed-rtos mbed
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ESP8266-WEB-Mbed-LPC1768-Controller
by 
jim hamblen
Diff: main.cpp
- Revision:
- 5:cfceccd5ccb1
- Parent:
- 4:40dd020463ea
--- a/main.cpp Fri Aug 28 01:37:50 2015 +0000
+++ b/main.cpp Tue Oct 20 18:21:16 2015 +0000
@@ -2,9 +2,11 @@
#include "mbed.h"
//#include "DS18B20.h"
+#include "motordriver.h"
+#include "rtos.h"
-Serial pc(USBTX, USBRX);
-Serial esp(p28, p27); // tx, rx
+RawSerial pc(USBTX, USBRX);
+RawSerial esp(p28, p27); // tx, rx
//DS18B20 thermom(A0, DS18B20::RES_12_BIT);
@@ -12,12 +14,15 @@
DigitalOut led1(LED1); // (PTB18)
DigitalOut led2(LED2); // (PTB19)
DigitalOut led3(LED3); // (PTD1)
+DigitalOut led4(LED4);
+Motor left(p21, p23, p22, 1); // pwm, fwd, rev, has brake feature
+Motor right(p26, p25, p24, 1);
// Digital Out and In pins, can be configured to any suitable pin depending on Platform
DigitalOut Out1(p6);
DigitalOut Out2(p7);
DigitalOut Out3(p8);
-DigitalOut reset(p26);
+DigitalOut reset(p29);
DigitalIn In1(p9);
DigitalIn In2(p10);
@@ -30,6 +35,14 @@
Timer t1;
Timer t2;
+void motorThread(void const *args);
+bool gMotorLatch = false;
+int gMotorCommand = 0;
+#define CMD_FWD 1
+#define CMD_BACK 2
+#define CMD_LEFT 3
+#define CMD_RIGHT 4
+
struct tm t;
int bufflen, DataRX, count, getcount, replycount, servreq, timeout;
@@ -53,6 +66,9 @@
void SendCMD(),getreply(),ReadWebData(),startserver(),sendpage(),SendWEB(),sendcheck();
void gettime(),gettemp(),getbattery(),setRTC(),beep();
+bool simpleResponse = false;
+void sendSimplePage();
+
// manual set RTC values
int minute =00; // 0-59
int hour =12; // 2-23
@@ -67,10 +83,14 @@
void callback()
{
led3=1;
+ led4 = 0;
while (esp.readable()) {
+ led4 = !led4;
webbuff[count] = esp.getc();
count++;
}
+
+ led2 = 0;
if(strlen(webbuff)>bufflen) {
DataRX=1;
led3=0;
@@ -78,7 +98,7 @@
}
int main()
-{
+{
reset=0;
pc.baud(115200);
@@ -96,12 +116,19 @@
beep();
startserver();
+ Thread mThreadYo(motorThread);
+
while(1) {
if(DataRX==1) {
ReadWebData();
beep();
if (servreq == 1 && weberror == 0) {
- sendpage();
+ if (simpleResponse == true) {
+ sendSimplePage();
+ simpleResponse = false;
+ } else {
+ sendpage();
+ }
}
esp.attach(&callback);
pc.printf(" IPD Data:\r\n\n Link ID = %d,\r\n IPD Header Length = %d \r\n IPD Type = %s\r\n", linkID, ipdLen, type);
@@ -113,6 +140,21 @@
}
}
}
+void sendSimplePage() {
+ strcpy(webbuff, "<!DOCTYPE html><html><head></head><body>OK</body></html>");
+
+// end of WEB page data
+ bufl = strlen(webbuff); // get total page buffer length
+ sprintf(cmdbuff,"AT+CIPSEND=%d,%d\r\n", linkID, bufl); // send IPD link channel and buffer character length.
+ timeout=200;
+ getcount=7;
+ SendCMD();
+ getreply();
+ SendWEB(); // send web page
+ memset(webbuff, '\0', sizeof(webbuff));
+ sendcheck();
+}
+
// Static WEB page
void sendpage()
{
@@ -255,29 +297,39 @@
memset(webdata, '\0', sizeof(webdata));
int x = strcspn (webbuff,"+");
if(x) {
+ pc.printf("DATA: %s", webdata);
strcpy(webdata, webbuff + x);
weberror=0;
int numMatched = sscanf(webdata,"+IPD,%d,%d:%s", &linkID, &ipdLen, type);
- if( strstr(webdata, "led1=1") != NULL ) {
- led1=1;
+ if( strstr(webdata, "led1=1") != NULL || strstr(webdata, "keycode=fwd") != NULL) {
+ gMotorLatch = true;
+ gMotorCommand = CMD_FWD;
+
+ simpleResponse = true;
}
if( strstr(webdata, "led1=0") != NULL ) {
led1=0;
}
- if( strstr(webdata, "Out1=1") != NULL ) {
- Out1=1;
+ if( strstr(webdata, "Out1=1") != NULL || strstr(webdata, "keycode=back") != NULL) {
+ gMotorLatch = true;
+ gMotorCommand = CMD_BACK;
+ simpleResponse = true;
}
if( strstr(webdata, "Out1=0") != NULL ) {
Out1=0;
}
- if( strstr(webdata, "Out2=1") != NULL ) {
- Out2=1;
+ if( strstr(webdata, "Out2=1") != NULL || strstr(webdata, "keycode=left") != NULL) {
+ gMotorLatch = true;
+ gMotorCommand = CMD_LEFT;
+ simpleResponse = true;
}
if( strstr(webdata, "Out2=0") != NULL ) {
Out2=0;
}
- if( strstr(webdata, "Out3=1") != NULL ) {
- Out3=1;
+ if( strstr(webdata, "Out3=1") != NULL || strstr(webdata, "keycode=right") != NULL) {
+ gMotorLatch = true;
+ gMotorCommand = CMD_RIGHT;
+ simpleResponse = true;
}
if( strstr(webdata, "Out3=0") != NULL ) {
Out3=0;
@@ -434,3 +486,55 @@
t.tm_year = ((year)+100); // year since 1900, current DCF year + 100 + 1900 = correct year
set_time(mktime(&t)); // set RTC clock
}
+
+// Control motor related things
+void motorThread(void const *args) {
+ pc.printf("motorThread started\n\r");
+
+ while (1) {
+ while (gMotorLatch == false) {
+ Thread::wait(100);
+ }
+
+ pc.printf("motorThread Latched!\n\r");
+
+ gMotorLatch = false;
+
+ float lSpeed = 0.0f;
+ float rSpeed = 0.0f;
+ float delayMs = 1000;
+ switch(gMotorCommand) {
+ case CMD_FWD:
+ lSpeed = 0.5f;
+ rSpeed = 0.5f;
+ break;
+
+ case CMD_BACK:
+ lSpeed = -0.5f;
+ rSpeed = -0.5f;
+ break;
+
+ case CMD_LEFT:
+ lSpeed = -0.5f;
+ rSpeed = 0.5f;
+ delayMs = 500;
+ break;
+
+ case CMD_RIGHT:
+ lSpeed = 0.5f;
+ rSpeed = -0.5f;
+ delayMs = 500;
+ break;
+
+ default:
+ delayMs = 0;
+ break;
+ }
+
+ left.speed(lSpeed);
+ right.speed(rSpeed);
+ Thread::wait(delayMs);
+ left.speed(0);
+ right.speed(0);
+ }
+}
\ No newline at end of file