Dave Patel
ECE 4180 Final Project - Bluetooth Controlled Robot that aims/fires a Digital Output Device, in this case, a laser or buzzer
Revision 0:b5ac3f893191, committed 2020-04-29
- Comitter:
- dpatel344
- Date:
- Wed Apr 29 18:29:34 2020 +0000
- Commit message:
- Final ;
Changed in this revision
diff -r 000000000000 -r b5ac3f893191 Servo.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Servo.lib Wed Apr 29 18:29:34 2020 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/simon/code/Servo/#36b69a7ced07
diff -r 000000000000 -r b5ac3f893191 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Apr 29 18:29:34 2020 +0000
@@ -0,0 +1,195 @@
+#include "mbed.h"
+#include "Servo.h"
+
+Serial bt(p28,p27); //tx,rx
+
+Servo pan(p24);
+Servo tilt(p23);
+
+PwmOut left(p21);
+PwmOut right(p22);
+
+DigitalOut fwdl(p5);
+DigitalOut revl(p6);
+
+DigitalOut laser(p7);
+
+DigitalOut fwdr(p11);
+DigitalOut revr(p12);
+
+union packet {
+
+ float f;
+ char c[4];
+
+};
+
+int main() {
+
+ char button, temp = 0;
+ union packet x, y; // range is -10 to 10
+
+ // initialize servo to middle, motors off, and laser off
+ fwdl = revl = fwdr = revr = 0;
+ left = right = 0.0;
+ pan = 0.5;
+ tilt = 0.225;
+ laser = 0;
+
+ while (1) {
+
+ if (bt.getc() == '!') {
+
+ button = bt.getc();
+ switch (button) {
+
+ case 'B': // if button
+
+ button = bt.getc();
+ //state = bt.getc();
+
+ switch (button) {
+
+ case '1': // toggle the laser/digital output device on pin 7
+
+ //if (state == '1') {
+
+ laser = !laser;
+ break;
+
+ //}
+
+ case '2': // recenter the servos
+
+ //if (state == '1') {
+
+ tilt = 0.225;
+ pan = 0.5;
+ wait(0.2);
+ break;
+
+ //}
+
+ case '5': // forward
+
+ //if (state == '1') {
+
+ if (tilt <= 0.05) {tilt = 0.0;}
+ else {tilt = tilt - 0.05;}
+ wait(0.1);
+ break;
+
+ //}
+
+ case '6': // backward
+
+ //if (state == '1') {
+
+ if (tilt >= 0.40) {tilt = 0.45;}
+ else {tilt = tilt + 0.05;}
+ wait(0.1);
+ break;
+
+ //}
+
+ case '7': // right
+
+ //if (state == '1') {
+
+ if (pan <= 0.05) {pan = 0.0;}
+ else {pan = pan - 0.05;}
+ wait(0.1);
+ break;
+
+ //}
+
+
+ case '8': // left
+
+ //if (state == '1') {
+
+ if (pan >= 0.95) {pan = 1.0;}
+ else {pan = pan + 0.05;}
+ wait(0.1);
+ break;
+
+ // }
+
+ }
+ break;
+
+ case 'A': // otherwise accelerometer
+
+ // fetch and store accelerometer data
+
+ for (int i = 0; i < 4; i++) {
+
+ temp = bt.getc();
+ x.c[i] = temp;
+
+ }
+
+ for (int i = 0; i < 4; i++) {
+
+ temp = bt.getc();
+ y.c[i] = temp;
+
+ }
+
+ // final loop to capture Z accelerometer data (NOT USED)
+ for (int i = 0; i < 4; i++) {
+
+ temp = bt.getc();
+
+ }
+
+ temp = bt.getc();
+
+ // read accelerometer data and control motors
+
+ if (x.f <= -2.0) { // left
+
+ fwdl = fwdr = 1;
+ revl = revr = 0;
+ left = 0.1;
+ right = 1.0;
+
+ }
+
+ else if (x.f >= 2.0) { // right
+
+ fwdl = fwdr = 1;
+ revl = revr = 0;
+ left = 1.0;
+ right = 0.1;
+
+ }
+
+ else { // if no tilt, make sure that motors are disengaged
+
+ fwdl = fwdr = revl = revr = 0;
+ left = right = 0.0;
+ }
+
+ if (y.f <= -2.0) { // reverse
+
+ fwdl = fwdr = 0;
+ revl = revr = 1;
+ right = left = 1.0;
+
+ }
+
+ else if (y.f >= 2.0) { // forward
+
+ fwdl = fwdr = 1;
+ revl = revr = 0;
+ right = left = 1.0;
+
+ }
+
+ break;
+
+ }
+ }
+ }
+}
diff -r 000000000000 -r b5ac3f893191 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Apr 29 18:29:34 2020 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/e2ac27c8e93e