Clément Ballot
This is a program for a DIY robotic arm for demonstrates the capacities of the BIXI Bluetooth module
Dependencies: Servo TextLCD mbed
main.cpp
- Committer:
- clementb
- Date:
- 2016-06-21
- Revision:
- 6:f9179fb52bbc
- Parent:
- 5:da214688a308
File content as of revision 6:f9179fb52bbc:
/*
Program created in June, 2016 by Clément BALLOT
This program is for a robotic arm for demonstrates the Bixi capacities, with 2 axes. The Bixi is a Bluetooth module for touch-free control
Bluetooth devices, like a smartphone or a tablet. It is develloped by Bluemint Labs.
To make this project, you need :
- a STM32 Nucleo board (ST). BE CAREFUL : CHOISE THE RIGH BOARD BEFORE COMPILING !!! ;
- 2x servomotors (5V) ;
- 2x LEDs : 1x red, 1x green ;
- 3 pushbuttons ;
- 4x 10K potentiometers ;
- a 2 rows 16 columns alphanumeric LCD screen ;
- a USB A to micro cable ;
- a breadboard ;
- 2x 100K resistors .
*/
#include "mbed.h"
#include "TextLCD.h"
#include "Servo.h"
TextLCD lcd(D2, D3, D4, D5, D6, D7);
enum LCDType{LCD16x2B};
Servo servoRL(D10); //Righ-left servo : x axe
Servo servoHL(D9); //Up-down servo : y axe
DigitalIn menuL(D11); //"Back" button
DigitalIn menuR(D12); //"Next" button
DigitalOut ledY(D8); //"Please wait" LED
DigitalOut ledV(D13); //"In progress" and "press a button" LED
AnalogIn analogX(A1); //Analog in for x potentiometer
AnalogIn analogY(A3); //Analog in for y potentiometer
float vitesse = 0.001; //------------------------------------------- CHANGE IT TO REDUCE/INCREASE SERVOMOTORS SPEED --------------------
int page;
int i = 0;
int disp = 0;
float xPos = 0.00;
float yPos = 0.00;
int ok = 0;
int main(){
page = 1;
lcd.cls();
lcd.locate(0,0);
lcd.printf("BIXI Rob'Arm :by");
lcd.locate(0,1);
lcd.printf("Clement BALLOT");
servoRL = 0.00;
servoHL = 0.00;
while(i != 5){
ledY = 1;
ledV = 0;
wait(0.5);
ledY = 0;
ledV = 1;
wait(0.5);
i = i++;
}
ledY = 0;
ledV = 0;
while(1) {
ledY = 1;
lcd.cls();
lcd.locate(0,0);
lcd.printf("Reset servo pos");
wait(1);
lcd.locate(0, 1);
lcd.printf("Please wait...");
wait(1);
lcd.cls();
lcd.locate(3, 0);
lcd.printf(" : x servo");
lcd.locate(3, 1);
lcd.printf(" : y servo");
lcd.locate(0,0);
disp = xPos*100;
lcd.printf("%3d", disp);
lcd.locate(0, 1);
disp = yPos*100;
lcd.printf("%3d", disp);
if(xPos!=0.00){
while(yPos < 1.00){
yPos = yPos + 0.01;
lcd.locate(0, 1);
disp = yPos*100;
lcd.printf("%3d", disp);
servoHL = yPos;
wait(vitesse*10);
}
}
while(xPos > 0.00){
xPos = xPos - 0.01;
lcd.locate(0,0);
disp = xPos*100;
lcd.printf("%3d", disp);
servoRL = xPos;
wait(vitesse*10);
}
while(yPos >0.00){
yPos = yPos - 0.01;
lcd.locate(0, 1);
disp = yPos*100;
lcd.printf("%3d", disp);
servoHL = yPos;
wait(vitesse*10);
}
servoRL = 0.00;
servoHL = 0.00;
ledV = 1;
ledY = 0;
lcd.cls();
lcd.locate(0,0);
lcd.printf("Press a button..");
lcd.locate(0, 1);
lcd.printf("Currently : P%d ", page);
i = 0;
while(i!=20){
wait(0.1);
ledV = 0;
wait(0.1);
ledV = 1;
i = i++;
}
if(menuR == 1 && menuL == 1 && ok == 0){
page = 5;
}
else if(menuL == 1){
if(page == 1){
page = 4;
}
else{
page = page--;
}
}
else if(menuR == 1){
if(page == 4){
page = 1;
}
else{
page = page++;
}
}
lcd.locate(0, 1);
lcd.printf("OK ! Next : P%d ", page);
wait(1);
ledV = 0;
ledY = 1;
lcd.cls();
lcd.locate(0, 0);
lcd.printf("Loading P%d...", page);
lcd.locate(0, 1);
lcd.printf("P%d :",page);
lcd.locate(4, 1);
/*------------------------------------------- P4 : down > up --------------------------------------------------------------*/
if(page == 4) {
lcd.printf("down > up ");
servoHL = 0;
i = 0;
wait(2);
lcd.locate(3, 1);
lcd.printf(": x servo ");
while(xPos<0.50){
lcd.locate(0, 1);
xPos = xPos+0.01;
disp = xPos*100;
servoRL = xPos;
lcd.printf("%3d", disp);
wait(vitesse*10);
}
wait(1);
ledY = 0;
lcd.cls();
lcd.locate(0,0);
lcd.printf("Running P4... ");
lcd.locate(0, 1);
lcd.printf(" 0 : y servo");
ledV = 1;
wait(1);
lcd.locate(0,1);
while(yPos<1.00){
lcd.locate(0,1);
yPos = yPos + 0.01;
disp = yPos*100;
lcd.printf("%3d", disp);
servoHL = yPos;
wait(vitesse);
}
wait(1);
ledV = 0;
}
/*---------------------------------------------------- P3 : left > right -----------------------------------------------------------------*/
else if(page == 3) {
lcd.printf("left > right");
wait(2);
lcd.locate(3, 1);
lcd.printf(": y servo ");
while(yPos<1.00){
yPos = yPos+0.01;
servoHL = yPos;
disp = yPos*100;
lcd.locate(0, 1);
lcd.printf("%3d", disp);
wait(vitesse*10);
}
i = 0;
wait(1);
lcd.locate(5, 1);
lcd.printf("x");
while(xPos<1.00){
xPos = xPos+0.01;
servoRL = xPos;
disp = xPos*100;
lcd.locate(0, 1);
lcd.printf("%3d", disp);
wait(vitesse*10);
}
i = 100;
wait(0.5);
lcd.locate(5, 1);
lcd.printf("y");
while(yPos>0.00){
yPos = yPos-0.01;
servoHL = yPos;
disp = yPos*100;
lcd.locate(0, 1);
lcd.printf("%3d", disp);
wait(vitesse*10);
}
wait(1);
ledY = 0;
lcd.cls();
lcd.locate(0,0);
lcd.printf("Running P3... ");
lcd.locate(0, 1);
lcd.printf("100 : x servo");
ledV = 1;
wait(1);
i = 100;
while(xPos>0){
xPos = xPos-0.01;
disp = xPos*100;
servoRL = xPos;
lcd.locate(0,1);
lcd.printf("%3d",disp);
wait(vitesse);
}
wait(1);
ledV = 0;
}
/*---------------------------------------------------- P2 : up > down ----------------------------------------------------------------*/
else if(page == 2) {
lcd.printf("up > down ");
wait(1);
i = 0; //loading
lcd.locate(3, 1);
lcd.printf(": y servo ");
while(yPos<1.00){
yPos = yPos+0.01;
servoHL = yPos;
disp = yPos*100;
lcd.locate(0, 1);
lcd.printf("%3d", disp);
wait(vitesse*10);
};
lcd.locate(5, 1);
lcd.printf("x");
while(xPos<0.50){
xPos = xPos+0.01;
servoRL = xPos;
disp = xPos*100;
lcd.locate(0, 1);
lcd.printf("%3d", disp);
wait(vitesse*10);
}
lcd.locate(5, 1);
lcd.printf("y");
while(yPos >0.61){
yPos = yPos-0.01;
servoHL = yPos;
disp = yPos*100;
lcd.locate(0, 1);
lcd.printf("%3d", disp);
wait(vitesse*10);
}
wait(1);
ledY = 0; //running
lcd.cls();
lcd.locate(0,0);
lcd.printf("Running P2... ");
lcd.locate(0, 1);
lcd.printf(" 60: y degrees");
ledV = 1;
wait(1);
yPos = 0.60;
while(yPos>0.00){
disp = yPos*100;
lcd.locate(0,1);
lcd.printf("%3d", disp);
yPos = yPos-0.01;
servoHL = yPos;
wait(vitesse);
}
yPos = 0.00;
ok = 0.50;
xPos = 0.00;
wait(3);
ledV = 0;
}
/*---------------------------------------------- P1 : righ > left ------------------------------------------------------------------*/
else if(page == 1){
lcd.printf("right > left");
wait(1);
ledY = 0; //running
lcd.cls();
lcd.locate(0,0);
lcd.printf("Running P1... ");
lcd.locate(0, 1);
lcd.printf(" 0 : x degrees");
ledV = 1;
wait(0.5);
xPos = 0.00;
while(xPos<1.00){
xPos = xPos+0.01;
servoRL = xPos;
disp = xPos*100;
lcd.locate(0, 1);
lcd.printf("%3d", disp);
wait(vitesse);
}
wait(0.5);
ledV = 0;
}
/*------------------------------------------------ P5 : manual mode ----------------------------------------------------------------*/
if(page == 5){ //home screen
ledY = 1;
lcd.cls();
lcd.locate(0, 0);
lcd.printf("P5 : manual mode");
lcd.locate(0,1);
lcd.printf("Button : exit");
wait(2);
int j=0;
lcd.locate(15, 1);
while(j < 60){
ledV = 1;
ledY = 0;
i = rand();
lcd.printf("%d",i);
wait(0.05);
ledV = 0;
ledY = 1;
wait(0.05);
j=j++;
}
while(i < 80){
lcd.cls();
disp = rand();
lcd.locate(0, 0);
lcd.printf("How do you find");
lcd.locate(0, 1);
lcd.printf("it ??? Go out !");
i = 0;
ledV = 0;
ledY = 1;
wait(0.05);
ledY = 0;
ledV = 1;
wait(0.05);
if(menuL == 1 && menuR == 1){
i = i++;
}
}
ledY = 0;
ledV = 0;
lcd.cls(); //loading
lcd.locate(0, 0);
lcd.printf("Servomotors will");
lcd.locate(0, 1);
lcd.printf("be positioned as");
wait(2);
lcd.locate(0, 0);
lcd.printf("be positioned as");
lcd.locate(0, 1);
lcd.printf("potentiometers, ");
wait(2);
lcd.locate(0, 0);
lcd.printf("potentiometers, ");
lcd.locate(0, 1);
lcd.printf("please wait. ");
wait(2);
lcd.cls();
lcd.locate(4, 0);
lcd.printf(": x servo");
lcd.locate(4, 1);
lcd.printf(": y servo");
float mesure = analogX.read();
xPos = (int) mesure*100;
xPos = xPos/100;
if(xPos>mesure){
while(xPos>mesure){
xPos = xPos-0.01;
servoRL = xPos;
disp = xPos*100;
lcd.locate(0, 0);
lcd.printf("%3d", disp);
wait(vitesse*10);
}
}
if(xPos<mesure){
while(xPos<mesure){
xPos = xPos+0.01;
servoRL = xPos;
disp = xPos*100;
lcd.locate(0, 0);
lcd.printf("%3d", disp);
wait(vitesse*10);
}
}
mesure = analogY.read();
yPos = (int) mesure*100;
yPos = yPos/100;
while(yPos!=mesure){
if(yPos>mesure){
yPos = yPos-0.01;
servoHL = yPos;
disp = yPos*100;
lcd.locate(0, 1);
lcd.printf("%3d", disp);
wait(vitesse*10);
}
else if(yPos<mesure){
yPos = yPos+0.01;
servoHL = yPos;
disp = yPos*100;
lcd.locate(0, 1);
lcd.printf("%3d", disp);
wait(vitesse);
}
}
wait(1);
i=0;
j = 20;
lcd.locate(0, 0);
servoRL = 0.99;
servoHL = 0.99;
while(i<j){
float mesure = analogX.read();
mesure = mesure*120;
disp = rand();
xPos = mesure/100;
lcd.printf("%3d", disp);
mesure = analogY.read();
mesure = mesure*120;
disp = rand();
yPos = mesure/100;
wait(0.5);
i = i++;
}
page = 4;
ok = 1;
servoRL = 0.00;
servoHL = 0.00;
}
}
}