Revision 0:41f85a3f645d, committed 2009-09-19
- Comitter:
- demo
- Date:
- Sat Sep 19 18:32:13 2009 +0000
- Commit message:
Changed in this revision
diff -r 000000000000 -r 41f85a3f645d Motor.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Motor.cpp Sat Sep 19 18:32:13 2009 +0000
@@ -0,0 +1,24 @@
+// H-Bridge Motor Control
+// Copyright (c) 2009 sford
+// Released under the MIT License: http://mbed.org/license/mit
+
+#include "Motor.h"
+
+#include "mbed.h"
+
+Motor::Motor(PinName pwm, PinName fwd, PinName rev) : _pwm(pwm), _fwd(fwd), _rev(rev) {
+
+ // Set initial condition of PWM
+ _pwm.period(0.001);
+ _pwm = 0;
+
+ // Initial condition of output enables
+ _fwd = 0;
+ _rev = 0;
+}
+
+void Motor::speed(float speed) {
+ _fwd = (speed > 0.0);
+ _rev = (speed < 0.0);
+ _pwm = abs(speed);
+}
diff -r 000000000000 -r 41f85a3f645d Motor.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Motor.h Sat Sep 19 18:32:13 2009 +0000
@@ -0,0 +1,21 @@
+// H-Bridge Motor Control
+// Copyright (c) 2009 sford
+// Released under the MIT License: http://mbed.org/license/mit
+
+#ifndef MBED_MOTOR_H
+#define MBED_MOTOR_H
+
+#include "mbed.h"
+
+class Motor {
+public:
+ Motor(PinName pwm, PinName fwd, PinName rev);
+ void speed(float);
+
+protected:
+ PwmOut _pwm;
+ DigitalOut _fwd;
+ DigitalOut _rev;
+};
+
+#endif
diff -r 000000000000 -r 41f85a3f645d NokiaPresenter.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/NokiaPresenter.cpp Sat Sep 19 18:32:13 2009 +0000
@@ -0,0 +1,101 @@
+// Nokia Presenter Bluetooth
+// Copyright (c) 2009 sford
+// Released under the MIT License: http://mbed.org/license/mit
+
+#include "NokiaPresenter.h"
+
+#include "mbed.h"
+
+NokiaPresenter::NokiaPresenter(PinName tx, PinName rx, PinName rst) : _bt(tx, rx), _rst(rst) {
+ printf("Setup bt module\n");
+ _bt.baud(9600);
+ _rst = 0;
+ wait(0.5);
+ _rst = 1;
+ wait(0.5);
+
+ printf("Ensure we are in AT command mode...\n");
+ _bt.printf("+++");
+ wait(1);
+ while (_bt.readable()) {
+ _bt.getc(); // empty buffer
+ }
+
+ printf("Looking for BT Module...\n");
+ at("AT\r", "\r\nOK\r\n");
+
+ printf("Reset factory settings...\n");
+ at("AT&F\r", "\r\nOK\r\n");
+
+ printf("Setting name...\n");
+ at("AT+BTLNM=\"simon\"\r", "\r\nOK\r\n");
+
+ printf("Allow connections...\n");
+ at("AT+BTAUT=1, 0\r", "\r\nOK\r\n");
+
+ printf("Start BT server...\n");
+ at("AT+BTSRV=1\r", "\r\nOK\r\n");
+
+ printf("Waiting for presenter connection...\n");
+ char buffer[23];
+ for (int i=0; i<21; i++) {
+ buffer[i] = _bt.getc();
+ }
+
+ printf("Got request, starting handshake...\n");
+ for (int i=0; i<21; i++) {
+ _bt.putc(buffer[i]);
+ }
+ for (int i=0; i<3; i++) {
+ buffer[i] = _bt.getc();
+ }
+ const char connect[27] = {0x05,0x18,0x00,0x01,0x10,0x01,0x02,0x00,0xFF,0xFF,0x00,0x44,0x00,0x65,0x00,0x73,0x00,0x6B,0x00,0x74,0x00,0x6F,0x00,0x70,0x00,0x00,0x00};
+ for (int i=0; i<27; i++) {
+ _bt.putc(connect[i]);
+ }
+
+ printf("Handshake complete, waiting for desktop request...\n");
+ for (int i=0; i<23; i++) {
+ buffer[i] = _bt.getc();
+ }
+ for (int i=0; i<23; i++) {
+ _bt.putc(buffer[i]);
+ }
+
+ printf("Presenter connection all setup!\n");
+}
+
+char NokiaPresenter::key() {
+ char buffer[6];
+ for (int i=0; i<6; i++) {
+ buffer[i] = _bt.getc();
+ }
+
+ if (buffer[3] == 0x01) {
+ return 0x00; // keyup
+ }
+ if (buffer[5] == 0xF8) {
+ switch (buffer[4]) {
+ case 0x07:
+ return 'L';
+ case 0x08:
+ return 'R';
+ case 0x09:
+ return 'U';
+ case 0x0A:
+ return 'D';
+ case 0x45:
+ return 'C';
+ }
+ }
+ return buffer[4];
+}
+
+void NokiaPresenter::at(char *command, char *response) {
+ _bt.printf(command);
+ for (int i=0; i<strlen(response); i++) {
+ if (_bt.getc() != response[i]) {
+ error("AT Command [%s] Failed", command);
+ }
+ }
+}
diff -r 000000000000 -r 41f85a3f645d NokiaPresenter.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/NokiaPresenter.h Sat Sep 19 18:32:13 2009 +0000
@@ -0,0 +1,21 @@
+// Nokia Presenter Bluetooth
+// Copyright (c) 2009 sford
+// Released under the MIT License: http://mbed.org/license/mit
+
+#include "mbed.h"
+
+#ifndef MBED_NOKIA_PRESENTER_H
+#define MBED_NOKIA_PRESENTER_H
+
+class NokiaPresenter {
+public:
+ NokiaPresenter(PinName tx, PinName rx, PinName rst);
+ char key();
+
+protected:
+ void at(char *command, char *response);
+ Serial _bt;
+ DigitalOut _rst;
+};
+
+#endif
diff -r 000000000000 -r 41f85a3f645d main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sat Sep 19 18:32:13 2009 +0000
@@ -0,0 +1,48 @@
+// Sumo Robot control via Bluetooth/Nokia Presenter
+// Copyright (c) 2009 sford
+// Released under the MIT License: http://mbed.org/license/mit
+
+#include "mbed.h"
+#include "Motor.h"
+#include "NokiaPresenter.h"
+
+Motor left(p23, p6, p5); // pwm, fwd, rev
+Motor right(p24, p8, p7); // pwm, fwd, rev
+
+BusOut leds(LED1, LED2, LED3, LED4);
+
+int main() {
+ leds = 1;
+ NokiaPresenter nokia(p28, p27, p29); // tx, rx, rst
+ leds = 2;
+
+ while(1) {
+ switch(nokia.key()) {
+ case 0:
+ left.speed(0.0);
+ right.speed(0.0);
+ leds = 0;
+ break;
+ case 'U':
+ left.speed(1.0);
+ right.speed(1.0);
+ leds = 1 << 0 | 1 << 2;
+ break;
+ case 'D':
+ left.speed(-1.0);
+ right.speed(-1.0);
+ leds = 1 << 1 | 1 << 3;
+ break;
+ case 'L':
+ left.speed(-1.0);
+ right.speed(1.0);
+ leds = 1 << 1 | 1 << 2;
+ break;
+ case 'R':
+ left.speed(1.0);
+ right.speed(-1.0);
+ leds = 1 << 0 | 1 << 3;
+ break;
+ }
+ }
+}
diff -r 000000000000 -r 41f85a3f645d mbed.bld
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld Sat Sep 19 18:32:13 2009 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/f63353af7be8
demo demo