Austin O'Connell
/
Menu4180
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Dependencies: 4DGL-uLCD-SE Motordriver PinDetect RemoteIR mbed-rtos mbed
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Menu4180
by 
Brandon Lasater
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main.cpp
00001 #include "mbed.h" 00002 #include "uLCD_4DGL.h" 00003 #include "motordriver.h" 00004 #include "PinDetect.h" 00005 #include "rtos.h" 00006 #include "ReceiverIR.h" 00007 00008 uLCD_4DGL lcd(p28, p27, p29); // LCD screen 00009 Mutex stdio_mutex; // Mutex for LCD 00010 00011 DigitalIn pb(p7); //LCD menu Pushbuttons 00012 DigitalIn pb1(p10); 00013 DigitalIn pb2(p13); 00014 DigitalIn pb3(p16); 00015 PinDetect pb8(p8); // Pushbutton to start motors 00016 00017 AnalogIn IRout(p20); // IR Module (front sensor) 00018 00019 Motor left(p21,p22,p23,1); 00020 Motor right(p26,p25,p24,1); 00021 00022 ReceiverIR ir_rx(p15); // IR receiver 00023 RemoteIR::Format format; 00024 00025 DigitalOut led1(LED1); //LED1 used for debugging purposes 00026 DigitalOut led2(LED2); 00027 //Timer t; //Timer used to calculate automated driving distance 00028 00029 //Globals 00030 bool OnOff = false; //turn motors on/off 00031 uint8_t buf[32]; 00032 int bitcount; 00033 uint8_t dat; //used to Identify button pressed on Universal remote 00034 00035 // push button hit callback to start/stop motor immediately 00036 void pb8_hit_callback (void) { 00037 OnOff = !OnOff; 00038 } 00039 00040 void display_binary(uint8_t *buf, uint8_t cnt){ 00041 dat = *(buf + 2); 00042 printf("%02x",dat); 00043 printf("\n\r"); 00044 } 00045 00046 // IR module in front of robot, stop motors if object detected 00047 void IRmod(void const *args){ 00048 while(1){ 00049 if(IRout > 0.35f ){ 00050 OnOff = false; 00051 led2 = 1; 00052 } 00053 else{ 00054 //OnOff = false; 00055 led2 = 0; 00056 } 00057 } 00058 } 00059 00060 // Motor manual control using IR Receiver with Universal Remote 00061 void IRrec(void const *args){ 00062 while(1){ 00063 if(OnOff == false){ 00064 if (ir_rx.getState() == ReceiverIR::Received) { 00065 bitcount = ir_rx.getData(&format, buf, sizeof(buf) * 8); 00066 dat = ((bitcount + 7) / 8); 00067 dat = *(buf + 2); 00068 printf("%02x\n\r",dat); 00069 switch (dat){ 00070 case 0x01: 00071 left.speed(0.8); 00072 right.speed(0.8); 00073 wait(0.001); 00074 break; 00075 case 0x03: 00076 left.speed(0.8); 00077 right.speed(-0.8); 00078 wait(0.001); 00079 break; 00080 case 0x05: 00081 left.speed(-0.8); 00082 right.speed(0.8); 00083 wait(0.001); 00084 break; 00085 case 0x07: 00086 left.speed(-0.8); 00087 right.speed(-0.8); 00088 wait(0.001); 00089 break; 00090 case 0x00: // End manual override, return to automated route 00091 left.stop(1); 00092 right.stop(1); 00093 OnOff = true; 00094 break; 00095 } 00096 } 00097 else if (ir_rx.getState() == ReceiverIR::Receiving){ 00098 switch (dat){ 00099 case 0x01: 00100 left.speed(0.8); 00101 right.speed(0.8); 00102 wait(0.001); 00103 break; 00104 case 0x03: 00105 left.speed(-0.6); 00106 right.speed(0.6); 00107 wait(0.001); 00108 break; 00109 case 0x05: 00110 left.speed(0.6); 00111 right.speed(-0.6); 00112 wait(0.001); 00113 break; 00114 case 0x07: 00115 left.speed(-0.8); 00116 right.speed(-0.8); 00117 wait(0.001); 00118 break; 00119 case 0x00: // End manual override, return to automated route 00120 left.stop(1); 00121 right.stop(1); 00122 OnOff = true; 00123 break; 00124 } 00125 } 00126 else if (ir_rx.getState() == ReceiverIR::Idle) { 00127 wait(0.1); 00128 if(ir_rx.getState() == ReceiverIR::Idle){ 00129 left.stop(1); 00130 right.stop(1); 00131 wait(0.001); 00132 } 00133 } 00134 } 00135 } 00136 } 00137 00138 void rightTurn(){ //Turn bot 90 degrees right 00139 left.speed(-0.6); 00140 right.speed(0.6); 00141 wait(0.5); 00142 left.stop(1); 00143 right.stop(1); 00144 } 00145 00146 void moveAhead(float length){ 00147 Timer t; 00148 t.start(); 00149 while(t.read() < length){ 00150 if(OnOff == true){ 00151 left.speed(0.8); 00152 right.speed(0.8); 00153 } 00154 else{ 00155 left.stop(1); 00156 right.stop(1); 00157 } 00158 } 00159 left.stop(1); 00160 right.stop(1); 00161 t.stop(); 00162 } 00163 00164 int main() { 00165 led1 = 0; 00166 Thread thread1(IRmod); // Create IRmod thread 00167 Thread thread3(IRrec); // Create IR receiver thread for manual motor control 00168 00169 lcd.baudrate(3000000); // Set LCD baud rate 00170 lcd.background_color(0); 00171 lcd.cls(); // clear LCD screen 00172 00173 pb8.mode(PullUp); //internal pullup for push button 8 00174 wait(0.001); // initial delay for pullup 00175 pb8.attach_deasserted(&pb8_hit_callback); // Setup pb interrupt callback func 00176 pb8.setSampleFrequency(); //Start sampling pb input using interrupt 00177 00178 pb.mode(PullUp); //Intitial Pusbutton Setup 00179 pb1.mode(PullUp); 00180 pb2.mode(PullUp); 00181 pb3.mode(PullUp); 00182 wait(.001); 00183 00184 // Initial LCD menu setup 00185 /* 00186 stdio_mutex.lock(); 00187 lcd.locate(1,2); 00188 lcd.printf("Add Stop<"); 00189 lcd.locate(1,4); 00190 lcd.printf("Remove Stop "); 00191 lcd.locate(1,6); 00192 lcd.printf("Exit "); 00193 stdio_mutex.unlock(); 00194 */ 00195 int stop = 1; // counter for which Bus Stop the bot is at 00196 bool running = 1; //alternates between moving or stopping 00197 00198 //bool count = false; 00199 //int old_pb=1; 00200 //int new_pb; 00201 00202 //int count1=0; 00203 //int old_pb1=1; 00204 //int new_pb1; 00205 00206 //int old_pb2=1; 00207 //int new_pb2; 00208 00209 //bool count3 = false; //whether enter has been pressed 00210 //bool count4 = true; //whether it is currently on add stops or remove stops 00211 //int old_pb3=1; 00212 //int new_pb3; 00213 //bool Menu = false; 00214 00215 //Set up the booleans determining which stops are currently being serviced 00216 // bool stop1 = true; 00217 // bool stop2 = true; 00218 //bool stop3 = true; 00219 //bool stop4 = true; 00220 00221 //bool running = true; 00222 //int stop = 1; 00223 00224 while(1) { 00225 00226 if(OnOff == true){ //Keeps Led1 in same state as OnOff (for debugging) 00227 led1 = 1; 00228 } 00229 else{ 00230 led1 = 0; 00231 } 00232 00233 if(OnOff == true){ 00234 if(running && stop == 1){ // Moving to bus stop 1 00235 stdio_mutex.lock(); 00236 lcd.cls(); 00237 lcd.locate(1,5); 00238 lcd.printf("Moving to Stop 1"); 00239 stdio_mutex.unlock(); 00240 moveAhead(2); // Move forward 1.5 seconds 00241 running = !running; 00242 } 00243 else if(!running && stop == 1){ // Stopped at bus stop 1 00244 stdio_mutex.lock(); 00245 lcd.cls(); 00246 lcd.locate(1,5); 00247 lcd.printf("Waiting at Stop 1"); 00248 stdio_mutex.unlock(); 00249 Thread::wait(5000); // Wait 5 seconds at Bus Stop 00250 rightTurn(); // 90 degree right turn 00251 running = !running; 00252 stop++; 00253 } 00254 else if(running && stop == 2){ //moving to bus stop 2 00255 stdio_mutex.lock(); 00256 lcd.cls(); 00257 lcd.locate(1,5); 00258 lcd.printf("Moving to Stop 2"); 00259 stdio_mutex.unlock(); 00260 moveAhead(1.5); // Move forward for 1 second 00261 running = !running; 00262 } 00263 else if(!running && stop == 2){ // Stopped at bus stop 2 00264 stdio_mutex.lock(); 00265 lcd.cls(); 00266 lcd.locate(1,5); 00267 lcd.printf("Waiting at Stop 2"); 00268 stdio_mutex.unlock(); 00269 Thread::wait(5000); 00270 rightTurn(); 00271 running = !running; 00272 stop++; 00273 } 00274 else if(running && stop == 3){ // moving to bus stop 3 00275 stdio_mutex.lock(); 00276 lcd.cls(); 00277 lcd.locate(1,5); 00278 lcd.printf("Moving to Stop 3"); 00279 stdio_mutex.unlock(); 00280 moveAhead(2); 00281 running = !running; 00282 } 00283 else if(!running && stop == 3){ // stopped at bus stop 3 00284 stdio_mutex.lock(); 00285 lcd.cls(); 00286 lcd.locate(1,5); 00287 lcd.printf("Waiting at Stop 3"); 00288 stdio_mutex.unlock(); 00289 Thread::wait(5000); 00290 rightTurn(); 00291 running = !running; 00292 stop++; 00293 } 00294 else if(running && stop == 4){ // moving to bus stop 4 00295 stdio_mutex.lock(); 00296 lcd.cls(); 00297 lcd.locate(1,5); 00298 lcd.printf("Moving to Stop 4"); 00299 stdio_mutex.unlock(); 00300 moveAhead(1.5); 00301 running = !running; 00302 } 00303 else if(!running && stop == 4){ // stopped at bus stop 4 00304 stdio_mutex.lock(); 00305 lcd.cls(); 00306 lcd.locate(1,5); 00307 lcd.printf("Waiting at Stop 4"); 00308 stdio_mutex.unlock(); 00309 Thread::wait(5000); 00310 rightTurn(); 00311 running = !running; 00312 stop = 1; // reset back to start 00313 } 00314 } 00315 00316 //new_pb = pb; 00317 //new_pb1 = pb1; 00318 //new_pb2 = pb2; 00319 //new_pb3 = pb3; 00320 00321 00322 00323 /* LCD Add/Remove Bus Stop Functionality 00324 // If NOT currently in "Menu" mode (motor running) 00325 if(!Menu && OnOff == true) { 00326 if(running && stop == 1){ 00327 stdio_mutex.lock(); 00328 lcd.locate(1,5); 00329 lcd.printf("Moving to Stop1 "); // move motors to stop 1 4 feet frwrd 00330 stdio_mutex.unlock(); 00331 moveAhead(1); // move 4 seconds 00332 running = !running; 00333 } 00334 else if(!running && stop == 1){ 00335 stdio_mutex.lock(); 00336 lcd.locate(1,5); 00337 lcd.printf("Waiting at Stop1"); // stop motors 5 seconds 00338 stdio_mutex.unlock(); 00339 //Thread::wait(5000); // 5 second wait 00340 rightTurn(); 00341 running = !running; 00342 stop++; 00343 } 00344 else if(running && stop == 2){ 00345 stdio_mutex.lock(); 00346 lcd.locate(1,5); 00347 lcd.printf("Moving to Stop2 "); // move to stop 2. 90 deg right turn + forward 3 feet 00348 stdio_mutex.unlock(); 00349 } 00350 else if(!running && stop == 2){ 00351 stdio_mutex.lock(); 00352 lcd.locate(1,5); 00353 lcd.printf("Waiting at Stop2"); 00354 stdio_mutex.unlock(); 00355 } 00356 else if(running && stop == 3){ 00357 stdio_mutex.lock(); 00358 lcd.locate(1,5); 00359 lcd.printf("Moving to Stop3"); 00360 stdio_mutex.unlock(); 00361 } 00362 else if(!running && stop == 3){ 00363 stdio_mutex.lock(); 00364 lcd.locate(1,5); 00365 lcd.printf("Waiting at Stop3"); 00366 stdio_mutex.unlock(); 00367 } 00368 else if(running && stop == 4){ 00369 stdio_mutex.lock(); 00370 lcd.locate(1,5); 00371 lcd.printf("Moving to Stop4 "); 00372 stdio_mutex.unlock(); 00373 } 00374 else if(!running && stop == 4){ 00375 stdio_mutex.lock(); 00376 lcd.locate(1,5); 00377 lcd.printf("Waiting at Stop4"); 00378 stdio_mutex.unlock(); 00379 } 00380 } 00381 else if(Menu) { //All of the below runs the menu interactions 00382 00383 if ((new_pb==0) && (old_pb==1)) count = !count; 00384 if ((new_pb1==0) && (old_pb1==1) && count1 < 3) count1++; 00385 if ((new_pb2==0) && (old_pb2==1) && count1 > 0) count1--; 00386 if ((new_pb3==0) && (old_pb3==1)) { 00387 count3 = !count3; 00388 lcd.cls(); 00389 count1 = 0; 00390 } 00391 00392 if(count && !count3){ 00393 lcd.cls(); 00394 count1 = 0; 00395 count = false; 00396 } 00397 00398 if(count && count3 && count4){ 00399 if(count1 == 0) stop1 = true; 00400 if(count1 == 1) stop2 = true; 00401 if(count1 == 2) stop3 = true; 00402 if(count3 == 3) stop4 = true; 00403 count = false; 00404 } 00405 00406 if(count && count3 && count4){ 00407 if(count1 == 0) stop1 = false; 00408 if(count1 == 1) stop2 = false; 00409 if(count1 == 2) stop3 = false; 00410 if(count3 == 3) stop4 = false; 00411 count = false; 00412 } 00413 00414 if(!count) { 00415 if(!count3) { 00416 stdio_mutex.lock(); 00417 lcd.locate(1,1); 00418 lcd.printf(" "); 00419 stdio_mutex.unlock(); 00420 } 00421 00422 if(count3 && count4 && count1==0) { 00423 stdio_mutex.lock(); 00424 lcd.locate(1,1); 00425 lcd.printf("Add stops"); 00426 lcd.locate(1,2); //Initial Menu Setup for adding stops 00427 lcd.printf("Stop 1< "); 00428 lcd.locate(1,4); 00429 lcd.printf("Stop 2 "); 00430 lcd.locate(1,6); 00431 lcd.printf("Stop 3 "); 00432 lcd.locate(1,8); 00433 lcd.printf("Stop 4 "); 00434 stdio_mutex.unlock(); 00435 } 00436 if(count3 && count4 && count1==1) { 00437 stdio_mutex.lock(); 00438 lcd.locate(1,1); 00439 lcd.printf("Add stops"); 00440 lcd.locate(1,2); //Initial Menu Setup for adding stops 00441 lcd.printf("Stop 1 "); 00442 lcd.locate(1,4); 00443 lcd.printf("Stop 2< "); 00444 lcd.locate(1,6); 00445 lcd.printf("Stop 3 "); 00446 lcd.locate(1,8); 00447 lcd.printf("Stop 4 "); 00448 stdio_mutex.unlock(); 00449 } 00450 if(count3 && count4 && count1==2) { 00451 stdio_mutex.lock(); 00452 lcd.locate(1,1); 00453 lcd.printf("Add stops"); 00454 lcd.locate(1,2); //Initial Menu Setup for adding stops 00455 lcd.printf("Stop 1 "); 00456 lcd.locate(1,4); 00457 lcd.printf("Stop 2 "); 00458 lcd.locate(1,6); 00459 lcd.printf("Stop 3<"); 00460 lcd.locate(1,8); 00461 lcd.printf("Stop 4 "); 00462 stdio_mutex.unlock(); 00463 } 00464 if(count3 && count4 && count1==3) { 00465 stdio_mutex.lock(); 00466 lcd.locate(1,1); 00467 lcd.printf("Add stops"); 00468 lcd.locate(1,2); //Initial Menu Setup for adding stops 00469 lcd.printf("Stop 1 "); 00470 lcd.locate(1,4); 00471 lcd.printf("Stop 2 "); 00472 lcd.locate(1,6); 00473 lcd.printf("Stop 3 "); 00474 lcd.locate(1,8); 00475 lcd.printf("Stop 4<"); 00476 stdio_mutex.unlock(); 00477 } 00478 00479 if(count3 && !count4 && count1 == 0) { 00480 stdio_mutex.lock(); 00481 lcd.locate(1,1); 00482 lcd.printf("Remove Stops"); 00483 lcd.locate(1,2); //Initial Menu Setup for removing 00484 lcd.printf("Stop 1< "); 00485 lcd.locate(1,4); 00486 lcd.printf("Stop 2 "); 00487 lcd.locate(1,6); 00488 lcd.printf("Stop 3 "); 00489 lcd.locate(1,8); 00490 lcd.printf("Stop 4 "); 00491 stdio_mutex.unlock(); 00492 } 00493 if(count3 && !count4 && count1 == 1) { 00494 stdio_mutex.lock(); 00495 lcd.locate(1,1); 00496 lcd.printf("Remove Stops"); 00497 lcd.locate(1,2); //Initial Menu Setup for removing 00498 lcd.printf("Stop 1 "); 00499 lcd.locate(1,4); 00500 lcd.printf("Stop 2< "); 00501 lcd.locate(1,6); 00502 lcd.printf("Stop 3 "); 00503 lcd.locate(1,8); 00504 lcd.printf("Stop 4 "); 00505 stdio_mutex.unlock(); 00506 } 00507 if(count3 && !count4 && count1 == 2) { 00508 stdio_mutex.lock(); 00509 lcd.locate(1,1); 00510 lcd.printf("Remove Stops"); 00511 lcd.locate(1,2); //Initial Menu Setup for removing 00512 lcd.printf("Stop 1 "); 00513 lcd.locate(1,4); 00514 lcd.printf("Stop 2 "); 00515 lcd.locate(1,6); 00516 lcd.printf("Stop 3<"); 00517 lcd.locate(1,8); 00518 lcd.printf("Stop 4 "); 00519 stdio_mutex.unlock(); 00520 }if(count3 && !count4 && count1 == 3) { 00521 stdio_mutex.lock(); 00522 lcd.locate(1,1); 00523 lcd.printf("Remove Stops"); 00524 lcd.locate(1,2); //Initial Menu Setup for removing 00525 lcd.printf("Stop 1 "); 00526 lcd.locate(1,4); 00527 lcd.printf("Stop 2 "); 00528 lcd.locate(1,6); 00529 lcd.printf("Stop 3 "); 00530 lcd.locate(1,8); 00531 lcd.printf("Stop 4<"); 00532 stdio_mutex.unlock(); 00533 } 00534 if(count1 == 0 && !count3) { 00535 stdio_mutex.lock(); 00536 lcd.locate(1,2); //Initial Menu Setup 00537 lcd.printf("Add Stop<"); 00538 stdio_mutex.unlock(); 00539 count4 = true; 00540 } if(count1 != 0 && !count3) { 00541 stdio_mutex.lock(); 00542 lcd.locate(1,2); //Initial Menu Setup 00543 lcd.printf("Add Stop "); 00544 stdio_mutex.unlock(); 00545 } 00546 00547 if(count1 == 1 && !count3) { 00548 stdio_mutex.lock(); 00549 lcd.locate(1,4); 00550 lcd.printf("Remove Stop<"); 00551 stdio_mutex.unlock(); 00552 count4 = false; 00553 } if(count1 != 1 && !count3) { 00554 stdio_mutex.lock(); 00555 lcd.locate(1,4); 00556 lcd.printf("Remove Stop "); 00557 stdio_mutex.unlock(); 00558 } 00559 00560 if(count1 == 2 && !count3) { 00561 stdio_mutex.lock(); 00562 lcd.locate(1,6); 00563 lcd.printf("Exit<"); 00564 stdio_mutex.unlock(); 00565 } if(count1 != 2 && !count3) { 00566 stdio_mutex.lock(); 00567 lcd.locate(1,6); 00568 lcd.printf("Exit "); 00569 stdio_mutex.unlock(); 00570 } 00571 } 00572 } 00573 00574 00575 old_pb = new_pb; 00576 old_pb1 = new_pb1; 00577 old_pb2 = new_pb2; 00578 old_pb3 = new_pb3; */ 00579 } 00580 }
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