Joan Daza / Mbed 2 deprecated Dysplay7segemtos45

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Dependencies:   mbed SeeedShieldBot BluetoothSerial

main.cpp@0:c8ce63279447, 2021-08-12 (annotated)

Committer:
dex2271
Date:
Thu Aug 12 14:34:13 2021 +0000
Revision:
0:c8ce63279447
f

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dex2271 0:c8ce63279447 1 #include "mbed.h"
dex2271 0:c8ce63279447 2 #include "BluetoothSerial.h"
dex2271 0:c8ce63279447 3 #include "SeeedStudioShieldBot.h"
dex2271 0:c8ce63279447 4
dex2271 0:c8ce63279447 5 // The following configuration must be done on the NUCLEO board:
dex2271 0:c8ce63279447 6 // - Close SB62/SB63 and open SB13/SB14 solder bridges to enable the D0/D1 pins
dex2271 0:c8ce63279447 7 // - Open SB21 solder bridge to disconnect the LED
dex2271 0:c8ce63279447 8
dex2271 0:c8ce63279447 9 BluetoothSerial bluetooth(D1, D0); // TX, RX
dex2271 0:c8ce63279447 10
dex2271 0:c8ce63279447 11 #ifdef TARGET_NUCLEO_L053R8
dex2271 0:c8ce63279447 12 #define PWM1 D6 // Connect D6 and D8
dex2271 0:c8ce63279447 13 #define PWM2 D12
dex2271 0:c8ce63279447 14 #else // NUCLEO_F072RB
dex2271 0:c8ce63279447 15 #define PWM1 D8
dex2271 0:c8ce63279447 16 #define PWM2 D12
dex2271 0:c8ce63279447 17 #endif
dex2271 0:c8ce63279447 18
dex2271 0:c8ce63279447 19 SeeedStudioShieldBot bot(
dex2271 0:c8ce63279447 20 PWM1, D9, D11, // Right motor pins (PwmOut, DigitalOut, DigitalOut) -> Motor 1
dex2271 0:c8ce63279447 21 PWM2, D10, D13, // Left motor pins (PwmOut, DigitalOut, DigitalOut) -> Motor 2
dex2271 0:c8ce63279447 22 A0, A1, A2, A3, A4 // Sensors pins (all DigitalIn)
dex2271 0:c8ce63279447 23 );
dex2271 0:c8ce63279447 24
dex2271 0:c8ce63279447 25 // Disable the feature by wiring A5 to GND
dex2271 0:c8ce63279447 26 DigitalIn ReadSensorsEnabled(A5, PullUp);
dex2271 0:c8ce63279447 27
dex2271 0:c8ce63279447 28 // Enable it for debugging on hyperterminal
dex2271 0:c8ce63279447 29 #define DEBUG 0
dex2271 0:c8ce63279447 30 #if DEBUG == 1
dex2271 0:c8ce63279447 31 Serial pc(PC_10, PC_11); // Connect PC10 and CN3-RX
dex2271 0:c8ce63279447 32 #define PC_DEBUG(args...) pc.printf(args)
dex2271 0:c8ce63279447 33 #else
dex2271 0:c8ce63279447 34 #define PC_DEBUG(args...)
dex2271 0:c8ce63279447 35 #endif
dex2271 0:c8ce63279447 36
dex2271 0:c8ce63279447 37 Ticker tick;
dex2271 0:c8ce63279447 38
dex2271 0:c8ce63279447 39 float speed = 1.0; // Used to select the motors speed
dex2271 0:c8ce63279447 40 int stop = 0; // Used to stop the motors when a sensor detects something
dex2271 0:c8ce63279447 41
dex2271 0:c8ce63279447 42 void ReadCommand(void)
dex2271 0:c8ce63279447 43 {
dex2271 0:c8ce63279447 44 int cmd = 0;
dex2271 0:c8ce63279447 45 PC_DEBUG(">>> Read command...\n");
dex2271 0:c8ce63279447 46
dex2271 0:c8ce63279447 47 if (bluetooth.readable())
dex2271 0:c8ce63279447 48 {
dex2271 0:c8ce63279447 49 cmd = bluetooth.getc();
dex2271 0:c8ce63279447 50 PC_DEBUG(">>> Bluetooth read [%c]\n", cmd);
dex2271 0:c8ce63279447 51
dex2271 0:c8ce63279447 52 // Ignore the receive command (excepted "Backward") if a sensor has detected something.
dex2271 0:c8ce63279447 53 if ((stop) && (cmd != '2')) return;
dex2271 0:c8ce63279447 54
dex2271 0:c8ce63279447 55 switch (cmd)
dex2271 0:c8ce63279447 56 {
dex2271 0:c8ce63279447 57 case '1': // Forward
dex2271 0:c8ce63279447 58 bot.forward(speed);
dex2271 0:c8ce63279447 59 break;
dex2271 0:c8ce63279447 60 case '2': // Backward
dex2271 0:c8ce63279447 61 bot.backward(speed);
dex2271 0:c8ce63279447 62 break;
dex2271 0:c8ce63279447 63 case '3': // Left
dex2271 0:c8ce63279447 64 bot.left(speed);
dex2271 0:c8ce63279447 65 break;
dex2271 0:c8ce63279447 66 case '4': // Right
dex2271 0:c8ce63279447 67 bot.right(speed);
dex2271 0:c8ce63279447 68 break;
dex2271 0:c8ce63279447 69 case '5': // Turn left forward
dex2271 0:c8ce63279447 70 bot.turn_right(speed);
dex2271 0:c8ce63279447 71 break;
dex2271 0:c8ce63279447 72 case '6': // Turn right forward
dex2271 0:c8ce63279447 73 bot.turn_left(speed);
dex2271 0:c8ce63279447 74 break;
dex2271 0:c8ce63279447 75 case '7': // Turn left backward
dex2271 0:c8ce63279447 76 bot.turn_right(-speed);
dex2271 0:c8ce63279447 77 break;
dex2271 0:c8ce63279447 78 case '8': // Turn right backward
dex2271 0:c8ce63279447 79 bot.turn_left(-speed);
dex2271 0:c8ce63279447 80 break;
dex2271 0:c8ce63279447 81 case '9': // Slow
dex2271 0:c8ce63279447 82 speed = 0.5;
dex2271 0:c8ce63279447 83 break;
dex2271 0:c8ce63279447 84 case 'A': // Fast
dex2271 0:c8ce63279447 85 speed = 1.0;
dex2271 0:c8ce63279447 86 break;
dex2271 0:c8ce63279447 87 default: // Stop
dex2271 0:c8ce63279447 88 bot.stopAll();
dex2271 0:c8ce63279447 89 break;
dex2271 0:c8ce63279447 90 }
dex2271 0:c8ce63279447 91 }
dex2271 0:c8ce63279447 92 }
dex2271 0:c8ce63279447 93
dex2271 0:c8ce63279447 94 int main()
dex2271 0:c8ce63279447 95 {
dex2271 0:c8ce63279447 96 PC_DEBUG("\n\nSeeed Bluetooth shield test started.\n");
dex2271 0:c8ce63279447 97
dex2271 0:c8ce63279447 98 // Enable motors
dex2271 0:c8ce63279447 99 bot.enable_right_motor();
dex2271 0:c8ce63279447 100 bot.enable_left_motor();
dex2271 0:c8ce63279447 101
dex2271 0:c8ce63279447 102 PC_DEBUG(">>> Bluetooth setup...");
dex2271 0:c8ce63279447 103 bluetooth.setup();
dex2271 0:c8ce63279447 104 PC_DEBUG("done\n");
dex2271 0:c8ce63279447 105
dex2271 0:c8ce63279447 106 PC_DEBUG(">>> Bluetooth in slave mode...");
dex2271 0:c8ce63279447 107 bluetooth.slave("bt_seeed_1"); // default PIN code: 0000
dex2271 0:c8ce63279447 108 PC_DEBUG("done\n");
dex2271 0:c8ce63279447 109
dex2271 0:c8ce63279447 110 wait(2);
dex2271 0:c8ce63279447 111
dex2271 0:c8ce63279447 112 PC_DEBUG(">>> Bluetooth connect...");
dex2271 0:c8ce63279447 113 bluetooth.connect();
dex2271 0:c8ce63279447 114 PC_DEBUG("done\n");
dex2271 0:c8ce63279447 115
dex2271 0:c8ce63279447 116 tick.attach(ReadCommand, 0.3); // Every 300 ms read Bluetooth command
dex2271 0:c8ce63279447 117
dex2271 0:c8ce63279447 118 // Check if motors are alive
dex2271 0:c8ce63279447 119 bot.left(speed);
dex2271 0:c8ce63279447 120 wait(0.2);
dex2271 0:c8ce63279447 121 bot.right(speed);
dex2271 0:c8ce63279447 122 wait(0.2);
dex2271 0:c8ce63279447 123 bot.stopAll();
dex2271 0:c8ce63279447 124
dex2271 0:c8ce63279447 125 while (1) {
dex2271 0:c8ce63279447 126 // Stop the motors if a sensor has detected something.
dex2271 0:c8ce63279447 127 if ((!bot.rightSensor || !bot.inRightSensor || !bot.centreSensor || !bot.inLeftSensor || !bot.leftSensor) && ReadSensorsEnabled)
dex2271 0:c8ce63279447 128 {
dex2271 0:c8ce63279447 129 if (!stop) bot.stopAll();
dex2271 0:c8ce63279447 130 stop = 1;
dex2271 0:c8ce63279447 131 }
dex2271 0:c8ce63279447 132 else
dex2271 0:c8ce63279447 133 {
dex2271 0:c8ce63279447 134 stop = 0;
dex2271 0:c8ce63279447 135 }
dex2271 0:c8ce63279447 136 }
dex2271 0:c8ce63279447 137 }