Can Kabuloglu
ECE 4180 - Mid mini project, lab 4
Dependencies: Motor Servo mbed
Revision 0:d9d5943dfa45, committed 2017-03-13
- Comitter:
- ckabuloglu
- Date:
- Mon Mar 13 16:08:11 2017 +0000
- Commit message:
- intial commit
Changed in this revision
diff -r 000000000000 -r d9d5943dfa45 Motor.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Motor.lib Mon Mar 13 16:08:11 2017 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/simon/code/Motor/#f265e441bcd9
diff -r 000000000000 -r d9d5943dfa45 Servo.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Servo.lib Mon Mar 13 16:08:11 2017 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/simon/code/Servo/#36b69a7ced07
diff -r 000000000000 -r d9d5943dfa45 Speaker.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Speaker.h Mon Mar 13 16:08:11 2017 +0000
@@ -0,0 +1,52 @@
+class Speaker
+{
+public:
+ Speaker(PinName pin) : _pin(pin) {
+// _pin(pin) means pass pin to the Speaker Constructor
+// precompute 32 sample points on one sine wave cycle
+// used for continuous sine wave output later
+ for(int k=0; k<32; k++) {
+ Analog_out_data[k] = int (65536.0 * ((1.0 + sin((float(k)/32.0*6.28318530717959)))/2.0));
+ // scale the sine wave to 16-bits - as needed for AnalogOut write_u16 arg
+ }
+
+ }
+// class method to play a note based on AnalogOut class
+ void PlayNote(float frequency, float duration, float volume) {
+ // scale samples using current volume level arg
+ for(int k=0; k<32; k++) {
+ Analog_scaled_data[k] = Analog_out_data[k] * volume;
+ }
+ // reset to start of sample array
+ i=0;
+ // turn on timer interrupts to start sine wave output
+ Sample_Period.attach(this, &Speaker::Sample_timer_interrupt, 1.0/(frequency*32.0));
+ // play note for specified time
+ wait(duration);
+ // turns off timer interrupts
+ Sample_Period.detach();
+ // sets output to mid range - analog zero
+ this->_pin.write_u16(32768);
+
+ }
+private:
+// sets up specified pin for analog using AnalogOut class
+ AnalogOut _pin;
+ // set up a timer to be used for sample rate interrupts
+ Ticker Sample_Period;
+
+ //variables used by interrupt routine and PlayNote
+ volatile int i;
+ short unsigned Analog_out_data[32];
+ short unsigned Analog_scaled_data[32];
+
+// Interrupt routine
+// used to output next analog sample whenever a timer interrupt occurs
+ void Sample_timer_interrupt(void) {
+ // send next analog sample out to D to A
+ this->_pin.write_u16(Analog_scaled_data[i]);
+ // increment pointer and wrap around back to 0 at 32
+ i = (i+1) & 0x01F;
+ }
+};
+
diff -r 000000000000 -r d9d5943dfa45 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Mar 13 16:08:11 2017 +0000
@@ -0,0 +1,186 @@
+#include "mbed.h"
+#include "Motor.h"
+#include "Speaker.h"
+#include "Servo.h"
+
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+
+Serial pc(USBTX, USBRX); // tx, rx
+
+DigitalIn safe(p9);
+
+Serial blue(p28,p27);
+
+Motor motor_left(p23, p6, p5);
+Motor motor_right(p24, p8, p7);
+
+DigitalOut trigger(p13);
+DigitalIn echo(p14);
+
+Speaker mySpeaker(p18);
+
+Servo servo(p26);
+
+Timer sonar;
+
+void chooseLed(int num) {
+ if (num == 1) {
+ led1 = 1;
+ led2 = 0;
+ led3 = 0;
+ led4 = 0;
+ } else if (num == 2) {
+ led1 = 0;
+ led2 = 1;
+ led3 = 0;
+ led4 = 0;
+ } else if (num == 3) {
+ led1 = 0;
+ led2 = 0;
+ led3 = 1;
+ led4 = 0;
+ } else if (num == 4) {
+ led1 = 0;
+ led2 = 0;
+ led3 = 0;
+ led4 = 1;
+ }
+}
+
+
+int getSonar(int correction) {
+ int distance = 0;
+ trigger = 1;
+ sonar.reset();
+ wait_us(10.0);
+ trigger = 0;
+
+ while (echo==0) {};
+ sonar.start();
+ while (echo==1) {};
+
+ sonar.stop();
+
+ distance = (sonar.read_us() - correction) / 58.0;
+ return distance;
+}
+
+int main() {
+ bool tooClose = false;
+ sonar.reset();
+ sonar.start();
+
+ while (echo==2) {};
+ sonar.stop();
+ int correction = sonar.read_us();
+ int distance = -1;
+
+ char bnum=0;
+ char bhit=0;
+
+ servo = 0.5;
+
+ while(1) {
+ if (blue.getc()=='!') {
+ if (blue.getc()=='B') { //button data packet
+ bnum = blue.getc(); //button number
+ bhit = blue.getc(); //1=hit, 0=release
+ if ((bnum>='1')&&(bnum<='8')) { //checksum OK?
+ chooseLed(2);
+ pc.printf("%d",0);
+ distance = getSonar(correction); // read sonar data
+// wait(0.1); // wait echo signal to disperse
+
+ // check if the distance is too close, set the flag 'tooClose'
+ if (distance > 20) {
+ led3 = 0;
+ led4 = 1;
+ tooClose = false;
+ } else {
+ led3 = 1;
+ led4 = 0;
+ tooClose = true;
+ }
+
+ switch (bnum) {
+ case '1': //button 1 - clockwise servo
+ chooseLed(3);
+ pc.printf("%d",6);
+ if (bhit=='1') {
+ servo = 1.0;
+ } else {
+ servo = 0.5;
+ }
+ break;
+
+ case '2': //button 2 - counter clockwise servo
+ chooseLed(4);
+ pc.printf("%d",7);
+ if (bhit=='1') {
+ servo = 0;
+ } else {
+ servo = 0.5;
+ }
+ break;
+
+ case '5': //button 5 up arrow - move forward
+ chooseLed(1);
+ pc.printf("%d",1);
+ if (bhit=='1' && tooClose == 0) {
+ motor_left.speed(1);
+ motor_right.speed(1);
+ mySpeaker.PlayNote(440, 1.0, 0.2);
+ } else if (tooClose == 1) {
+ motor_left.speed(0);
+ motor_right.speed(0);
+ mySpeaker.PlayNote(880, 0.1, 1.0);
+ } else {
+ motor_left.speed(0);
+ motor_right.speed(0);
+ }
+ break;
+ case '6': //button 6 down arrow - move backward
+ chooseLed(2);
+ pc.printf("%d",2);
+ if (bhit=='1') {
+ motor_left.speed(-1);
+ motor_right.speed(-1);
+ mySpeaker.PlayNote(600, 0.5, 0.6);
+ } else {
+ motor_left.speed(0);
+ motor_right.speed(0);
+ }
+ break;
+ case '7': //button 7 left arrow - rotate left
+ chooseLed(3);
+ pc.printf("%d",3);
+ if (bhit=='1') {
+ motor_left.speed(-1);
+ motor_right.speed(1);
+ } else {
+ motor_left.speed(0);
+ motor_right.speed(0);
+ }
+ break;
+ case '8': //button 8 right arrow - rotate right
+ chooseLed(4);
+ pc.printf("%d",4);
+ if (bhit=='1') {
+ motor_left.speed(1);
+ motor_right.speed(-1);
+ } else {
+ motor_left.speed(0);
+ motor_right.speed(0);
+ }
+ break;
+ default:
+ break;
+ }
+ }
+ }
+ }
+ }
+}
\ No newline at end of file
diff -r 000000000000 -r d9d5943dfa45 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Mar 13 16:08:11 2017 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/e1686b8d5b90 \ No newline at end of file