Revision 0:41f85a3f645d, committed 2009-09-19

Comitter:

demo

Date:

Sat Sep 19 18:32:13 2009 +0000

Commit message:

Changed in this revision

--- /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);
+}

--- /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

--- /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);
+        }
+    }
+}

--- /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

--- /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;
+        }
+    }
+}

--- /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