Daniel Chase
Bluetooth controlled Robot with Smart Collision Detection for ECE 4180 Final Project
Dependencies: Servo X_NUCLEO_53L0A1 mbed-rtos mbed
Revision 0:044f44184170, committed 2018-04-27
- Comitter:
- dchase
- Date:
- Fri Apr 27 20:03:14 2018 +0000
- Commit message:
- Final Revision
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Servo.lib Fri Apr 27 20:03:14 2018 +0000 @@ -0,0 +1,1 @@ +http://os.mbed.com/users/simon/code/Servo/#36b69a7ced07
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/X_NUCLEO_53L0A1.lib Fri Apr 27 20:03:14 2018 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/teams/ST/code/X_NUCLEO_53L0A1/#27d3d95c8593
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Apr 27 20:03:14 2018 +0000
@@ -0,0 +1,214 @@
+#include "mbed.h"
+#include "XNucleo53L0A1.h" //Lidar Distance Sensor: 3.3V VIN, GND GND, P13 SDA, P14 SCL, P26 SHDN
+#include "Servo.h"
+#include "rtos.h"
+#include <stdio.h>
+
+BusOut myled(LED1,LED2,LED3,LED4);
+Serial blue(p13,p14); //bluetooth UART
+
+Servo myservo(p23); //Servo connected to PWM 23
+
+float p;
+PwmOut ledR(p26); //RGB Red
+PwmOut ledG(p25); //RGB Green
+PwmOut ledB(p24); //RGB Blue
+
+PwmOut SpeedL(p21); //Speed of Left motor
+PwmOut SpeedR(p22); //Speed of Right motor
+DigitalOut FwdL(p15); //Forward Left motor
+DigitalOut FwdR(p16); //Forward Right motor
+DigitalOut BckL(p19); //Backward Left motor
+DigitalOut BckR(p18); //Backward Right motor
+
+/* I2C LIDAR sensor */
+#define VL53L0_I2C_SDA p28
+#define VL53L0_I2C_SCL p27
+DevI2C *device_i2c = new DevI2C(VL53L0_I2C_SDA, VL53L0_I2C_SCL);
+static XNucleo53L0A1 *board = XNucleo53L0A1::instance(device_i2c, A2, D8, D2);; // LIDAR singleton obj instantiate
+DigitalOut shdn(p29);
+int status;
+uint32_t sensorData;
+volatile int distance;
+int DistFlag; //used to determine if collision would have occured
+
+Thread t1;
+Thread t2;
+
+void sensor()
+{
+ shdn = 0; //must reset sensor for an mbed reset to work
+ wait(0.1);
+ shdn = 1;
+ wait(0.1);
+ // init the 53L0A1 board with default values
+ status = board->init_board();
+ while (status) {
+ pc.printf("Failed to init board! \r\n");
+ status = board->init_board();
+ }
+ pc.printf("Board Init. Beginning Loop \r\n");
+ //loop taking and printing distance
+ while (1) {
+ status = board->sensor_centre->get_distance(&sensorData);
+ distance = sensorData;
+ if (status == VL53L0X_ERROR_NONE) {
+ if (distance <= 400) DistFlag = 1;
+ pc.printf("D=%ld mm // DistFlag = %d\r\n", distance, DistFlag);
+ }
+ Thread::wait(10);
+ }//end while
+} // end sensor
+
+void motor()
+{
+ char bnum=0;
+ char bhit=0;
+ while (1) {
+ if (DistFlag == 1) {
+ ledG = 0;
+ ledR = 1;
+ SpeedL = 0.5;
+ SpeedR = 0.5;
+ FwdL = 0;
+ FwdR = 0;
+ } else {
+ ledG = 1;
+ if (blue.readable()) {
+ if (blue.getc()=='!') {
+ if (blue.getc()=='B') { //button data packet
+ bnum = blue.getc(); //button number
+ bhit = blue.getc(); //1=hit, 0=release
+ if (blue.getc()==char(~('!' + 'B' + bnum + bhit))) { //checksum OK?
+ myled = bnum - '0'; //current button number will appear on LEDs
+ switch (bnum) {
+ case '1': //number button 1: Servo Sweep
+ if (bhit=='1') {
+ for(float p=0; p<1.0; p += 0.1) {
+ myservo = p;
+ wait(0.2);
+ }
+ } else {
+ myservo = 0.5;
+ }
+ break;
+ case '2': //number button 2
+ if (bhit=='1') {
+ //add hit code here
+ DistFlag = 0;
+ } else {
+ //add release code here
+ }
+ break;
+ case '3': //number button 3
+ if (bhit=='1') {
+ //add hit code here
+ } else {
+ //add release code here
+ }
+ break;
+ case '4': //number button 4
+ if (bhit=='1') {
+ //add hit code here
+ } else {
+ //add release code here
+ }
+ break;
+ case '5': //button 5 up arrow
+ //pc.printf("Pressed F\n");
+ if (bhit=='1') {
+ SpeedL = 1;
+ SpeedR = 1;
+ FwdL = 1;
+ FwdR = 1;
+ } else {
+ for (p = SpeedL; p > 0; p -= 0.1) {
+ SpeedL = p;
+ SpeedR = p;
+ }
+ FwdL = 0;
+ FwdR = 0;
+ }
+ break;
+ case '6': //button 6 down arrow
+ if (bhit=='1') {
+ SpeedL = 0.5;
+ SpeedR = 0.5;
+ BckL = 1;
+ BckR = 1;
+ } else {
+ for (p = SpeedL; p > 0; p -= 0.1) {
+ SpeedL = p;
+ SpeedR = p;
+ }
+ BckL = 0;
+ BckR = 0;
+ }
+ break;
+ case '7': //button 7 left arrow
+ if (bhit=='1') {
+ SpeedL = 0.5;
+ SpeedR = 0.5;
+ BckL = 1;
+ FwdR = 1;
+ } else {
+ for (p = SpeedL; p > 0; p -= 0.1) {
+ SpeedL = p;
+ SpeedR = p;
+ }
+ BckL = 0;
+ FwdR = 0;
+ }
+ break;
+ case '8': //button 8 right arrow
+ if (bhit=='1') {
+ SpeedL = 0.5;
+ SpeedR = 0.5;
+ FwdL = 1;
+ BckR = 1;
+ } else {
+ for (p = SpeedL; p > 0; p -= 0.1) {
+ SpeedL = p;
+ SpeedR = p;
+ }
+ FwdL = 0;
+ BckR = 0;
+ }
+ }
+ }
+ }
+ }
+ } // end readable
+ } // end else
+ Thread::wait(100);
+ } //end while
+} // end Motor
+
+int main()
+{
+ DistFlag = 0;
+ for (p = 0; p < 1; p += 0.1) {
+ ledB = p;
+ wait(0.2);
+ }
+ wait(0.05);
+ ledB = 0;
+ t1.start(sensor);
+ t2.start(motor);
+ while (1) {
+ if (DistFlag == 1) {
+ while (distance <= 400) {
+ SpeedL = 0.2;
+ SpeedR = 0.2;
+ BckL = 1;
+ BckR = 1;
+ Thread::wait(10); //Reupdate Distance
+ }
+ BckL = 0;
+ BckR = 0;
+ ledR = 0;
+ DistFlag = 0;
+ }
+ Thread::wait(500);
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-rtos.lib Fri Apr 27 20:03:14 2018 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed-rtos/#5713cbbdb706
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Fri Apr 27 20:03:14 2018 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/994bdf8177cb \ No newline at end of file