Robot
Dependencies: Servo mbed wav_header wave_player TextLCD RemoteIR
main.cpp
00001 #include "mbed.h" 00002 #include "Servo.h" 00003 #include "Speaker.h" 00004 #include "ReceiverIR.h" 00005 #define TEST_LOOP_BACK 0 00006 #define DEBOUNCEDELAY 500 00007 //pines libres p15,p16,p17,p19,p30, "p26 socket IF-r" 00008 Serial Bt(p9,p10); 00009 Serial Wf(p28,p27); 00010 Serial Pc(USBTX, USBRX); 00011 ReceiverIR IR_Receiver(p15); 00012 PwmOut IR_Transmitter(p26); 00013 DigitalOut Lights(p19); 00014 DigitalOut Motor2A(p7); 00015 DigitalOut Motor2B(p6); 00016 DigitalOut Motor4A(p13); 00017 DigitalOut Motor4B(p14); 00018 DigitalOut Motor3A(p8); 00019 DigitalOut Motor3B(p5); 00020 DigitalOut Motor1A(p12); 00021 DigitalOut Motor1B(p11); 00022 Servo myservo1(p21); 00023 Servo myservo2(p22); 00024 Servo myservo3(p23); 00025 Servo myservo4(p24); 00026 Speaker mySpeaker(p18); 00027 char K,F; 00028 int u,l=0; 00029 float max = 0.0006; 00030 float min = -0.0005; 00031 float position1 = 0.0,position2 = 0.0; 00032 int receive(RemoteIR::Format *format, uint8_t *buf, int bufsiz, int timeout = 100) 00033 { 00034 int cnt = 0; 00035 while (IR_Receiver.getState() != ReceiverIR::Received) {cnt++;if (timeout < cnt) {return -1;}} 00036 return IR_Receiver.getData(format, buf, bufsiz * 8); 00037 } 00038 /////////IR Transmitter 00039 short Power_On_Off[] = { 2460, 543, 1290, 514, 692, 507, 1289, 514, 692, 507, 1290, 514, 691, 507, 690, 508, 1289, 516, 717, 481,690, 508, 689, 508, 692, 25634,}; 00040 00041 short Volume_Up[] = { 2500,440,700,480,1280,460,680,480,700,460,1300,460,700,460,700,460,1280,460,700,480,700,460,680,480,700,25620,}; //Volume Up 00042 00043 short Volume_Down[]= { 2480,480, 1260,500, 1260,480, 680,500, 660,500, 1240,500, 680,480, 680,460, 1280,500, 660,500, 680,480, 680,480, 680,25040,}; 00044 00045 short One_B[]= { 2480,460,700,460,700,460,720,440,720,460,700,460,700,460,720,440,1320,440,700,460,700,460,700,460,700,26800,}; 00046 00047 short Two_B[]= { 2500,440,1300,460,680,480,680,480,680,480,680,480,680,480,700,480,1280,460,680,480,680,480,700,460,700,26220,}; 00048 00049 short Three_B[]= { 2500,440,680,480,1300,440,700,480,680,480,680,480,680,480,680,500,1280,460,680,480,680,480,680,480,680,26240,}; 00050 00051 short Four_B[]= { 2520,420,1300,460,1300,440,700,480,680,480,680,480,680,480,680,480,1300,460,680,480,680,480,680,480,680,25640,}; 00052 00053 short Five_B[]= { 2500,460,680,480,680,480,1300,440,680,500,680,480,680,480,680,480,1300,440,700,480,680,480,680,480,680,26220,}; 00054 00055 void PowerOff() 00056 { 00057 IR_Transmitter.period_us( 26 );int iCountHighLow = sizeof( Power_On_Off ) / sizeof( Power_On_Off[0] ); 00058 for( int iIndexHighLow = 0; iIndexHighLow < iCountHighLow; iIndexHighLow++ ) {IR_Transmitter.write( 0.5 * (1 - (iIndexHighLow % 2)) ); wait_us( Power_On_Off[iIndexHighLow] );} 00059 } 00060 void VolumeUp() 00061 { 00062 IR_Transmitter.period_us( 26 );int iCountHighLow = sizeof( Volume_Up ) / sizeof( Volume_Up[0] ); 00063 for( int iIndexHighLow = 0; iIndexHighLow < iCountHighLow; iIndexHighLow++ ) {IR_Transmitter.write( 0.5 * (1 - (iIndexHighLow % 2)) );wait_us( Volume_Up[iIndexHighLow] );} 00064 } 00065 void VolumeDown() 00066 { 00067 IR_Transmitter.period_us( 26 );int iCountHighLow = sizeof( Volume_Down ) / sizeof( Volume_Down[0] ); 00068 for( int iIndexHighLow = 0; iIndexHighLow < iCountHighLow; iIndexHighLow++ ) {IR_Transmitter.write( 0.5 * (1 - (iIndexHighLow % 2)) );wait_us( Volume_Down[iIndexHighLow] );} 00069 } 00070 void One() 00071 { 00072 IR_Transmitter.period_us( 26 ); int iCountHighLow = sizeof( One_B ) / sizeof( One_B[0] ); 00073 for( int iIndexHighLow = 0; iIndexHighLow < iCountHighLow; iIndexHighLow++ ) {IR_Transmitter.write( 0.5 * (1 - (iIndexHighLow % 2)) );wait_us( One_B[iIndexHighLow] );} 00074 00075 } 00076 void Two() 00077 { 00078 IR_Transmitter.period_us( 26 ); int iCountHighLow = sizeof( Two_B ) / sizeof( Two_B[0] ); 00079 for( int iIndexHighLow = 0; iIndexHighLow < iCountHighLow; iIndexHighLow++ ) {IR_Transmitter.write( 0.5 * (1 - (iIndexHighLow % 2)) );wait_us( Two_B[iIndexHighLow] );} 00080 } 00081 void Three() 00082 { 00083 IR_Transmitter.period_us( 26 );int iCountHighLow = sizeof( Three_B ) / sizeof( Three_B[0] ); 00084 for( int iIndexHighLow = 0; iIndexHighLow < iCountHighLow; iIndexHighLow++ ) {IR_Transmitter.write( 0.5 * (1 - (iIndexHighLow % 2)) );wait_us( Three_B[iIndexHighLow] );} 00085 } 00086 void Four() 00087 { 00088 IR_Transmitter.period_us( 26 );int iCountHighLow = sizeof( Four_B ) / sizeof( Four_B[0] ); 00089 for( int iIndexHighLow = 0; iIndexHighLow < iCountHighLow; iIndexHighLow++ ) {IR_Transmitter.write( 0.5 * (1 - (iIndexHighLow % 2)) );wait_us( Four_B[iIndexHighLow] );} 00090 } 00091 void Five() 00092 { 00093 IR_Transmitter.period_us( 26 );int iCountHighLow = sizeof( Five_B ) / sizeof( Five_B[0] ); 00094 for( int iIndexHighLow = 0; iIndexHighLow < iCountHighLow; iIndexHighLow++ ) {IR_Transmitter.write( 0.5 * (1 - (iIndexHighLow % 2)) );wait_us( Five_B[iIndexHighLow] );} 00095 } 00096 00097 int main() { 00098 Timer timer; 00099 timer.start(); 00100 int D1A,D1B,D2A,D2B,D3A,D3B,D4A,D4B,x4,y4,x2,y2; 00101 int iMilliSec_prev = timer.read_ms(); 00102 myservo1.calibrate_max(max, 90); myservo1.calibrate_min(min, 0); 00103 myservo2.calibrate_max(max, 90); myservo2.calibrate_min(min, 0); 00104 myservo3.calibrate_max(max, 90); myservo3.calibrate_min(min, 0); 00105 myservo4.calibrate_max(max, 90); myservo4.calibrate_min(min, 0); 00106 myservo1 =0.95;myservo2 = 0.0; myservo3= 0.90; myservo4 =0.0;D1A=1,D1B=0,D2A=1,D2B=0,D3A=1,D3B=0,D4A=1,D4B=0 ;x2=D2A; y2=D2B; x4=D4A; y4=D4B; 00107 while(1) { 00108 Motor1A=0; Motor1B=0; Motor2A=0; Motor2B=0; Motor3A=0; Motor3B=0; Motor4A=0; Motor4B=0; // Motor Stop 00109 if (Bt.readable()){K=Bt.getc();} 00110 if (Wf.readable()){K=Wf.getc();} 00111 if (Pc.readable()){K=Pc.getc();} 00112 /////////// Infrared Transmitter ////////////// 00113 if (K=='1'){ One(); IR_Transmitter=0;IR_Transmitter.period(0.020);K=0;} 00114 if (K=='2'){ Two(); IR_Transmitter=0;IR_Transmitter.period(0.020);K=0;} 00115 if (K=='3'){ Three(); IR_Transmitter=0;IR_Transmitter.period(0.020);K=0;} 00116 if (K=='4'){ Four(); IR_Transmitter=0;IR_Transmitter.period(0.020);K=0;} 00117 if (K=='5'){ Five(); IR_Transmitter=0;IR_Transmitter.period(0.020);K=0;} 00118 if (K=='p'){ PowerOff(); IR_Transmitter=0;IR_Transmitter.period(0.020);K=0;} 00119 if (K=='u'){ VolumeUp(); IR_Transmitter=0;IR_Transmitter.period(0.020);K=0;} 00120 if (K=='d'){ VolumeDown(); IR_Transmitter=0;IR_Transmitter.period(0.020);K=0;} 00121 /////////// Servo ////////////// 00122 if (K=='7'){ myservo1 =0.0; myservo2 = .90; myservo3= 0.0; myservo4 =.90; D1A=1,D1B=0,D2A=0,D2B=1,D3A=1,D3B=0,D4A=0,D4B=1; x2=D2B; y2=D2A; x4=D4B; y4=D4A;} 00123 if (K=='8'){ myservo1 =0.5; myservo2 = 0.5 ; myservo3= 0.5; myservo4 =0.5;} 00124 if (K=='9'){ myservo1 =.90; myservo2 = 0.0; myservo3= .90; myservo4 =0; D1A=1,D1B=0,D2A=1,D2B=0,D3A=1,D3B=0,D4A=1,D4B=0 ;x2=D2A; y2=D2B; x4=D4A; y4=D4B;} 00125 if (K=='6'){ myservo1 =0; myservo2 = 0; myservo3= 0; myservo4 =0;K=0;} 00126 /////////// Lights ////////////// 00127 if (K=='l'){ if(l==1){Lights=0;l=0;K=0;}else {Lights=1;l=1;K=0;}} 00128 /////////// Wifly Config ////////////// 00129 if (K=='c'){ while(1){while(Bt.readable())Wf.putc(Bt.getc());while(Wf.readable())Bt.putc(Wf.getc());}} 00130 /////////// Claxon ////////////// 00131 if (K=='k'){ mySpeaker.PlayNote(969.0, 0.5, 1.0);mySpeaker.PlayNote(800.0, 0.5, 1.0);K=0;} 00132 /////////// Motores ////////////// 00133 if (K==0x41||K=='t'){Motor1A=D1A; Motor1B=D1B; Motor2A=D2A; Motor2B=D2B; Motor3A=D3A; Motor3B=D3B; Motor4A=D4A; Motor4B=D4B; wait(0.1); K=0;} //forward 00134 if (K==0x42||K=='g'){Motor1A=D1B; Motor1B=D1A; Motor2A=D2B; Motor2B=D2A; Motor3A=D3B; Motor3B=D3A; Motor4A=D4B; Motor4B=D4A; wait(0.1); K=0;} //backward 00135 if (K==0x43||K=='h'){Motor1A=D1B; Motor1B=D1A; Motor3A=D3A; Motor3B=D3B; Motor2A=x2; Motor2B=y2; Motor4A=y4; Motor4B=x4; wait(0.016); K=0;} //right 00136 if (K==0x44||K=='f'){Motor1A=D1A; Motor1B=D1B; Motor3A=D3B; Motor3B=D3A; Motor2A=y2; Motor2B=x2; Motor4A=x4; Motor4B=y4; wait(0.016); K=0;} //left 00137 00138 Wf.printf("\n\r"); 00139 Pc.printf("%c",K); 00140 /////////// Infrared Receiver ////////////// 00141 uint8_t buf1[32]; 00142 int bitlength1; 00143 RemoteIR::Format format;memset(buf1, 0x00, sizeof(buf1));bitlength1 = receive(&format, buf1, sizeof(buf1)); 00144 if (bitlength1 < 0) {continue;} 00145 for (int i = 0; i <4; i++) 00146 {for (int i = 0; i <1; i++) 00147 { u=buf1[i]; 00148 if(u==244){K=0x41;} // Forward 00149 if(u==245){K=0x42;}// Backward 00150 if(u==179){K=0x43;}// Right 00151 if(u==180){K=0x44;}//Left 00152 if(u==229){K=0x0D;}//Horn 00153 if(u==133){K='6';}// Servos Position 0 movement 00154 if(u==134){K='7';}// Servos left movement 00155 if(u==135){K='8';}// Servos Star movement 00156 if(u==136){K='9';}// Servos Right movement 00157 if(u==149){K='o';}// Robot on 00158 if(u==224){K='l';}// Lights 00159 if(u==139){K='p';}// Tv on/off 00160 } 00161 } 00162 Bt.printf("%i",u); Bt.printf("\n\r"); 00163 } 00164 } 00165 00166 00167
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