Revision 0:b6d5c2bbe0a8, committed 2012-10-12

Comitter:

dmehta39

Date:

Fri Oct 12 05:21:40 2012 +0000

Commit message:

Robot Security System

Changed in this revision

diff -r 000000000000 -r b6d5c2bbe0a8 Motordriver.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Motordriver.lib	Fri Oct 12 05:21:40 2012 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/osmeest/code/Motordriver/#83245b45ea70

diff -r 000000000000 -r b6d5c2bbe0a8 SHTx.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SHTx.lib	Fri Oct 12 05:21:40 2012 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/NegativeBlack/code/SHTx/#8465801be23f

diff -r 000000000000 -r b6d5c2bbe0a8 TextLCD.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TextLCD.cpp	Fri Oct 12 05:21:40 2012 +0000
@@ -0,0 +1,159 @@
+/* mbed TextLCD Library, for a 4-bit LCD based on HD44780
+ * Copyright (c) 2007-2010, sford, http://mbed.org
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "TextLCD.h"
+#include "mbed.h"
+
+TextLCD::TextLCD(PinName rs, PinName e, PinName d0, PinName d1,
+                 PinName d2, PinName d3, LCDType type) : _rs(rs),
+        _e(e), _d(d0, d1, d2, d3),
+        _type(type) {
+
+    _e  = 1;
+    _rs = 0;            // command mode
+
+    wait(0.015);        // Wait 15ms to ensure powered up
+
+    // send "Display Settings" 3 times (Only top nibble of 0x30 as we've got 4-bit bus)
+    for (int i=0; i<3; i++) {
+        writeByte(0x3);
+        wait(0.00164);  // this command takes 1.64ms, so wait for it
+    }
+    writeByte(0x2);     // 4-bit mode
+    wait(0.000040f);    // most instructions take 40us
+
+    writeCommand(0x28); // Function set 001 BW N F - -
+    writeCommand(0x0C);
+    writeCommand(0x6);  // Cursor Direction and Display Shift : 0000 01 CD S (CD 0-left, 1-right S(hift) 0-no, 1-yes
+    cls();
+}
+
+void TextLCD::character(int column, int row, int c) {
+    int a = address(column, row);
+    writeCommand(a);
+    writeData(c);
+}
+
+void TextLCD::cls() {
+    writeCommand(0x01); // cls, and set cursor to 0
+    wait(0.00164f);     // This command takes 1.64 ms
+    locate(0, 0);
+}
+
+void TextLCD::locate(int column, int row) {
+    _column = column;
+    _row = row;
+}
+
+int TextLCD::_putc(int value) {
+    if (value == '\n') {
+        _column = 0;
+        _row++;
+        if (_row >= rows()) {
+            _row = 0;
+        }
+    } else {
+        character(_column, _row, value);
+        _column++;
+        if (_column >= columns()) {
+            _column = 0;
+            _row++;
+            if (_row >= rows()) {
+                _row = 0;
+            }
+        }
+    }
+    return value;
+}
+
+int TextLCD::_getc() {
+    return -1;
+}
+
+void TextLCD::writeByte(int value) {
+    _d = value >> 4;
+    wait(0.000040f); // most instructions take 40us
+    _e = 0;
+    wait(0.000040f);
+    _e = 1;
+    _d = value >> 0;
+    wait(0.000040f);
+    _e = 0;
+    wait(0.000040f);  // most instructions take 40us
+    _e = 1;
+}
+
+void TextLCD::writeCommand(int command) {
+    _rs = 0;
+    writeByte(command);
+}
+
+void TextLCD::writeData(int data) {
+    _rs = 1;
+    writeByte(data);
+}
+
+int TextLCD::address(int column, int row) {
+    switch (_type) {
+        case LCD20x4:
+            switch (row) {
+                case 0:
+                    return 0x80 + column;
+                case 1:
+                    return 0xc0 + column;
+                case 2:
+                    return 0x94 + column;
+                case 3:
+                    return 0xd4 + column;
+            }
+        case LCD16x2B:
+            return 0x80 + (row * 40) + column;
+        case LCD16x2:
+        case LCD20x2:
+        default:
+            return 0x80 + (row * 0x40) + column;
+    }
+}
+
+int TextLCD::columns() {
+    switch (_type) {
+        case LCD20x4:
+        case LCD20x2:
+            return 20;
+        case LCD16x2:
+        case LCD16x2B:
+        default:
+            return 16;
+    }
+}
+
+int TextLCD::rows() {
+    switch (_type) {
+        case LCD20x4:
+            return 4;
+        case LCD16x2:
+        case LCD16x2B:
+        case LCD20x2:
+        default:
+            return 2;
+    }
+}

diff -r 000000000000 -r b6d5c2bbe0a8 TextLCD.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TextLCD.h	Fri Oct 12 05:21:40 2012 +0000
@@ -0,0 +1,111 @@
+/* mbed TextLCD Library, for a 4-bit LCD based on HD44780
+ * Copyright (c) 2007-2010, sford, http://mbed.org
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#ifndef MBED_TEXTLCD_H
+#define MBED_TEXTLCD_H
+
+#include "mbed.h"
+
+/** A TextLCD interface for driving 4-bit HD44780-based LCDs
+ *
+ * Currently supports 16x2, 20x2 and 20x4 panels
+ *
+ * @code
+ * #include "mbed.h"
+ * #include "TextLCD.h"
+ * 
+ * TextLCD lcd(p10, p12, p15, p16, p29, p30); // rs, e, d0-d3
+ * 
+ * int main() {
+ *     lcd.printf("Hello World!\n");
+ * }
+ * @endcode
+ */
+class TextLCD : public Stream {
+public:
+
+    /** LCD panel format */
+    enum LCDType {
+        LCD16x2     /**< 16x2 LCD panel (default) */
+        , LCD16x2B  /**< 16x2 LCD panel alternate addressing */
+        , LCD20x2   /**< 20x2 LCD panel */
+        , LCD20x4   /**< 20x4 LCD panel */
+    };
+
+    /** Create a TextLCD interface
+     *
+     * @param rs    Instruction/data control line
+     * @param e     Enable line (clock)
+     * @param d0-d3 Data lines
+     * @param type  Sets the panel size/addressing mode (default = LCD16x2)
+     */
+    TextLCD(PinName rs, PinName e, PinName d0, PinName d1, PinName d2, PinName d3, LCDType type = LCD16x2);
+
+#if DOXYGEN_ONLY
+    /** Write a character to the LCD
+     *
+     * @param c The character to write to the display
+     */
+    int putc(int c);
+
+    /** Write a formated string to the LCD
+     *
+     * @param format A printf-style format string, followed by the
+     *               variables to use in formating the string.
+     */
+    int printf(const char* format, ...);
+#endif
+
+    /** Locate to a screen column and row
+     *
+     * @param column  The horizontal position from the left, indexed from 0
+     * @param row     The vertical position from the top, indexed from 0
+     */
+    void locate(int column, int row);
+
+    /** Clear the screen and locate to 0,0 */
+    void cls();
+
+    int rows();
+    int columns();
+
+protected:
+
+    // Stream implementation functions
+    virtual int _putc(int value);
+    virtual int _getc();
+
+    int address(int column, int row);
+    void character(int column, int row, int c);
+    void writeByte(int value);
+    void writeCommand(int command);
+    void writeData(int data);
+
+    DigitalOut _rs, _e;
+    BusOut _d;
+    LCDType _type;
+
+    int _column;
+    int _row;
+};
+
+#endif

diff -r 000000000000 -r b6d5c2bbe0a8 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Oct 12 05:21:40 2012 +0000
@@ -0,0 +1,259 @@
+#include "mbed.h"
+#include "motordriver.h"
+//#include "SCP1000.h"
+#include "TextLCD.h"
+//#include "sht15.hpp"
+#include"stdio.h"
+#include "stdlib.h"
+#include "SHTx/sht15.hpp"
+
+Serial pc(USBTX, USBRX); // tx, rx
+Serial device(p13, p14);  // tx, rx
+
+DigitalOut myled3(LED3);
+DigitalOut myled2(LED2);
+DigitalOut myled4(LED4);
+
+SHTx::SHT15 sensor(p9, p10);
+float ss=0;
+Motor  left(p21, p22, p23, 1); // pwm, fwd, rev, has brake feature
+Motor right(p26, p25, p24, 1);
+float dhaval=0;
+float jill=0;
+float g=0;
+float g1=0;
+float g2=0;
+float g3=0;
+//char buffer[50];
+float h=0;
+float h1=0;
+float h2=0;
+float h3=0;
+TextLCD lcd(p15, p16, p17, p18, p19, p20);
+char a[300];
+int count=0;
+int s = 0;
+
+DigitalOut busy(LED1);
+
+
+
+
+
+
+
+
+
+
+
+
+
+int main()
+{ 
+
+sensor.setOTPReload(false);
+    sensor.setResolution(true);
+
+
+busy = true;
+        sensor.update();
+        busy = false;
+         
+         sensor.setScale(false);
+     float pp1 =  (sensor.getTemperature()-2.0);
+     char halftemp[60];
+     sprintf(halftemp, "%f", pp1);
+     
+     float pp2 =  sensor.getHumidity();
+      char halftemp2[60];
+     sprintf(halftemp2, "%f", pp2);
+     
+
+
+
+
+do{
+    while(1) {
+        count = 0;
+        if (device.readable()) {
+            do {
+                s=device.getc();
+                a[count]=s;
+                
+                count++;
+            } while(s != '\r');
+    
+        if(a[6]=='9' && a[7]=='0' && a[8]=='2' && a[9]=='8' && a[10]=='7' && a[11]=='8' && a[12]=='0' && a[13]=='7' && a[14]=='2' )
+         {
+                 lcd.cls();
+                 lcd.printf("Temperature in C: %s\n", halftemp);
+
+            myled3=!myled3;
+            
+         h1=0;h2=0;h3=0;g1=0;g2=0;g3=0;
+            while (1) {
+
+                if(g1==0) {
+
+                    
+// Sweep the motor speed from full-speed reverse (-1.0) to full speed forwards (1.0)
+                   
+                        left.speed(0.4);
+
+                        right.speed(0.8);
+                     
+                    wait(0.5);
+// Turn off motors - coast one and brake one
+                    
+                    right.speed(0); //////for turning right......
+                    left.speed(0); ////for turning left
+                    ++g1;
+                    
+                    wait(1);
+                }
+
+                if(g2==0 ) {
+
+                    
+// Sweep the motor speed from full-speed reverse (-1.0) to full speed forwards (1.0)
+                    
+                        left.speed(0.2);
+
+                     
+                    right.speed(0);
+                    
+                    wait(1);
+// Turn off motors - coast one and brake one
+                    
+                    
+                    left.stop(0); ////for turning left
+                    ++g2;
+                    
+                    wait(1);
+
+                }
+
+
+                if(g3==0) {
+                   
+// Sweep the motor speed from full-speed reverse (-1.0) to full speed forwards (1.0)
+                   
+                        left.speed(0.4);
+
+                        
+                        right.speed(0.8);
+                     
+                    wait(0.5);
+// Turn off motors - coast one and brake one
+                    
+                    right.speed(0); //////for turning right......
+                    left.speed(0); ////for turning left
+                    ++g3;
+                   
+                    ++jill;
+                    wait(1);
+                    
+                }
+    if(jill==1)
+    break;
+            }
+
+
+        }
+        
+        /////////////// TESTING SECOND CARD...F0RWARD THEN RIGHT TURN TERN BACK
+        
+         if(a[6]=='9' && a[7]=='0' && a[8]=='2' && a[9]=='9' && a[10]=='1' && a[11]=='1' && a[12]=='2' && a[13]=='5' && a[14]=='0' )
+        {  
+        
+                 lcd.cls();
+                 lcd.printf("Humidity is\n: %s %%\n", halftemp2);
+        
+        
+
+            myled2=!myled2;
+            myled4=!myled4;
+       g1=0;g2=0;g3=0;    h1=0;h2=0;h3=0; 
+            
+             while (1) {
+
+                if(h1==0 ) {
+
+                    
+// Sweep the motor speed from full-speed reverse (-1.0) to full speed forwards (1.0)
+                  
+                        left.speed(0.4);
+
+                        right.speed(0.8);
+                  
+                    wait(0.5);
+// Turn off motors - coast one and brake one
+                   
+                    right.speed(0); //////for turning right......
+                    left.speed(0); ////for turning left
+                    ++h1;
+                    g1=0;
+                    
+                    wait(1);
+                }
+
+                if(h2==0 ) {
+
+                    
+// Sweep the motor speed from full-speed reverse (-1.0) to full speed forwards (1.0)
+                   
+                    right.speed(0.2);
+                   
+                    left.speed(0);
+                    wait(1);
+// Turn off motors - coast one and brake one
+                   
+                     right.stop(0); //////for turning right......
+                    //left.stop(0); ////for turning left
+                    ++h2;
+                    g2=0;
+                    
+                    wait(1);
+
+                }
+
+
+                if(h3==0) {
+                    //myled=1;
+// Sweep the motor speed from full-speed reverse (-1.0) to full speed forwards (1.0)
+                    
+                        left.speed(0.4);
+
+                        
+                   
+
+                    wait(0.5);
+// Turn off motors - coast one and brake one
+                    
+                    right.speed(0); //////for turning right......
+                    left.speed(0); ////for turning left
+                    ++h3;
+                    g3=0;
+                    
+                    ++dhaval;
+                    wait(1);
+
+                }
+                
+                if(dhaval==1)
+                break;
+
+            }
+
+            
+        }
+   }
+    
+    }
+    
+   } while(ss==0);  
+}
+
+
+
+

diff -r 000000000000 -r b6d5c2bbe0a8 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Fri Oct 12 05:21:40 2012 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/cd19af002ccc
\ No newline at end of file