Johnny Kang / Mbed 2 deprecated IRBot_ECE4180FinalProject

Final Project

Dependencies:   mbed mbed-rtos Motor

main.cpp@0:24e231906adc, 2020-04-26 (annotated)

Committer:
johnnykang0905
Date:
Sun Apr 26 18:19:47 2020 +0000
Revision:
0:24e231906adc
Written by Eduard Shuvaev

Who changed what in which revision?

UserRevisionLine numberNew contents of line
johnnykang0905 0:24e231906adc 1 #include "mbed.h"
johnnykang0905 0:24e231906adc 2 #include "Motor.h"
johnnykang0905 0:24e231906adc 3 #include "rtos.h"
johnnykang0905 0:24e231906adc 4
johnnykang0905 0:24e231906adc 5
johnnykang0905 0:24e231906adc 6 int count = 0;
johnnykang0905 0:24e231906adc 7 int status = 0;
johnnykang0905 0:24e231906adc 8
johnnykang0905 0:24e231906adc 9 Serial blue(p28,p27);
johnnykang0905 0:24e231906adc 10 Motor m1(p25, p7, p8); // pwm, fwd, rev
johnnykang0905 0:24e231906adc 11 Motor m2(p26, p5, p6); // pwm, fwd, rev
johnnykang0905 0:24e231906adc 12
johnnykang0905 0:24e231906adc 13
johnnykang0905 0:24e231906adc 14
johnnykang0905 0:24e231906adc 15 // IR reciever connected to pin 14
johnnykang0905 0:24e231906adc 16 RawSerial device(p13, p14);
johnnykang0905 0:24e231906adc 17
johnnykang0905 0:24e231906adc 18
johnnykang0905 0:24e231906adc 19 //speaker
johnnykang0905 0:24e231906adc 20 PwmOut speaker (p21);
johnnykang0905 0:24e231906adc 21
johnnykang0905 0:24e231906adc 22 // LED inctating and testing functionality
johnnykang0905 0:24e231906adc 23 DigitalOut myled1(LED1);
johnnykang0905 0:24e231906adc 24 DigitalOut myled2(LED2);
johnnykang0905 0:24e231906adc 25 DigitalOut myled3(LED3);
johnnykang0905 0:24e231906adc 26 DigitalOut myled4(LED4);
johnnykang0905 0:24e231906adc 27
johnnykang0905 0:24e231906adc 28
johnnykang0905 0:24e231906adc 29 // RC control using Bluetooth and BlueFruit App
johnnykang0905 0:24e231906adc 30 void bluetooth_thread(void const *args)
johnnykang0905 0:24e231906adc 31 {
johnnykang0905 0:24e231906adc 32 while(1) {
johnnykang0905 0:24e231906adc 33 char bnum=0;
johnnykang0905 0:24e231906adc 34 char bhit=0;
johnnykang0905 0:24e231906adc 35 if(status == 0)
johnnykang0905 0:24e231906adc 36 { if (blue.getc()=='!') {
johnnykang0905 0:24e231906adc 37 if (blue.getc()=='B') { //button data packet
johnnykang0905 0:24e231906adc 38 bnum = blue.getc(); //button number
johnnykang0905 0:24e231906adc 39 bhit = blue.getc(); //1=hit, 0=release
johnnykang0905 0:24e231906adc 40 if (blue.getc()==char(~('!' + 'B' + bnum + bhit))) { //checksum OK?
johnnykang0905 0:24e231906adc 41 // for case 1 - 4 (button 1 - 4) could be added additional functionality
johnnykang0905 0:24e231906adc 42 switch (bnum) {
johnnykang0905 0:24e231906adc 43 case '5': //button 5 (FORWARD)
johnnykang0905 0:24e231906adc 44 if (bhit=='1') {
johnnykang0905 0:24e231906adc 45 m1.speed(0.5);
johnnykang0905 0:24e231906adc 46 m2.speed(0.55);
johnnykang0905 0:24e231906adc 47 } else {
johnnykang0905 0:24e231906adc 48 m1.speed(0.0);
johnnykang0905 0:24e231906adc 49 m2.speed(0.0);
johnnykang0905 0:24e231906adc 50 }
johnnykang0905 0:24e231906adc 51 break;
johnnykang0905 0:24e231906adc 52 case '6': //button 6 (REVERSE)
johnnykang0905 0:24e231906adc 53 if (bhit=='1') {
johnnykang0905 0:24e231906adc 54 m1.speed(-0.5);
johnnykang0905 0:24e231906adc 55 m2.speed(-0.54);
johnnykang0905 0:24e231906adc 56 } else {
johnnykang0905 0:24e231906adc 57 m1.speed(0.0);
johnnykang0905 0:24e231906adc 58 m2.speed(0.0);
johnnykang0905 0:24e231906adc 59 }
johnnykang0905 0:24e231906adc 60 break;
johnnykang0905 0:24e231906adc 61 case '7': //button 7 (LEFT)
johnnykang0905 0:24e231906adc 62 if (bhit=='1') {
johnnykang0905 0:24e231906adc 63 m1.speed(-0.5);
johnnykang0905 0:24e231906adc 64 m2.speed(0.5);
johnnykang0905 0:24e231906adc 65 } else {
johnnykang0905 0:24e231906adc 66 m1.speed(0.0);
johnnykang0905 0:24e231906adc 67 m2.speed(0.0);
johnnykang0905 0:24e231906adc 68 }
johnnykang0905 0:24e231906adc 69 break;
johnnykang0905 0:24e231906adc 70 case '8': //button 8 (RIGHT)
johnnykang0905 0:24e231906adc 71 if (bhit=='1') {
johnnykang0905 0:24e231906adc 72 m1.speed(0.5);
johnnykang0905 0:24e231906adc 73 m2.speed(-0.54);
johnnykang0905 0:24e231906adc 74 } else {
johnnykang0905 0:24e231906adc 75 m1.speed(0.0);
johnnykang0905 0:24e231906adc 76 m2.speed(0.0);
johnnykang0905 0:24e231906adc 77 }
johnnykang0905 0:24e231906adc 78 break;
johnnykang0905 0:24e231906adc 79 default:
johnnykang0905 0:24e231906adc 80 break;
johnnykang0905 0:24e231906adc 81 }
johnnykang0905 0:24e231906adc 82 }
johnnykang0905 0:24e231906adc 83 }
johnnykang0905 0:24e231906adc 84 }
johnnykang0905 0:24e231906adc 85 }
johnnykang0905 0:24e231906adc 86
johnnykang0905 0:24e231906adc 87 // LED 4 blinking to indicate that robot is shot and could not move
johnnykang0905 0:24e231906adc 88 else if (status == 1)
johnnykang0905 0:24e231906adc 89 {
johnnykang0905 0:24e231906adc 90 myled4 = !myled4;
johnnykang0905 0:24e231906adc 91 m1.speed(0.0);
johnnykang0905 0:24e231906adc 92 m2.speed(0.0);
johnnykang0905 0:24e231906adc 93
johnnykang0905 0:24e231906adc 94 }
johnnykang0905 0:24e231906adc 95
johnnykang0905 0:24e231906adc 96 Thread::wait(200);
johnnykang0905 0:24e231906adc 97
johnnykang0905 0:24e231906adc 98 }
johnnykang0905 0:24e231906adc 99 }
johnnykang0905 0:24e231906adc 100
johnnykang0905 0:24e231906adc 101 // play sound and blinking
johnnykang0905 0:24e231906adc 102 void blink_sound(void const *args) {
johnnykang0905 0:24e231906adc 103
johnnykang0905 0:24e231906adc 104 while (1){
johnnykang0905 0:24e231906adc 105
johnnykang0905 0:24e231906adc 106 if (status == 1)
johnnykang0905 0:24e231906adc 107 {
johnnykang0905 0:24e231906adc 108 myled1 = !myled1;
johnnykang0905 0:24e231906adc 109 speaker =0.9; //90% duty cycle - max volume
johnnykang0905 0:24e231906adc 110 Thread::wait(700);
johnnykang0905 0:24e231906adc 111 speaker=0.0; // turn off audio
johnnykang0905 0:24e231906adc 112 }
johnnykang0905 0:24e231906adc 113
johnnykang0905 0:24e231906adc 114
johnnykang0905 0:24e231906adc 115 Thread::wait(500);
johnnykang0905 0:24e231906adc 116 }
johnnykang0905 0:24e231906adc 117
johnnykang0905 0:24e231906adc 118 }
johnnykang0905 0:24e231906adc 119
johnnykang0905 0:24e231906adc 120
johnnykang0905 0:24e231906adc 121 int main()
johnnykang0905 0:24e231906adc 122 {
johnnykang0905 0:24e231906adc 123
johnnykang0905 0:24e231906adc 124 Thread thread1(bluetooth_thread);
johnnykang0905 0:24e231906adc 125 Thread thread2(blink_sound);
johnnykang0905 0:24e231906adc 126 device.baud(2400);
johnnykang0905 0:24e231906adc 127 speaker.period(1.0/350.0); // 350hz period
johnnykang0905 0:24e231906adc 128
johnnykang0905 0:24e231906adc 129 while(1) {
johnnykang0905 0:24e231906adc 130
johnnykang0905 0:24e231906adc 131
johnnykang0905 0:24e231906adc 132 if(device.readable())
johnnykang0905 0:24e231906adc 133 {
johnnykang0905 0:24e231906adc 134 device.getc();
johnnykang0905 0:24e231906adc 135 myled2 = 1;
johnnykang0905 0:24e231906adc 136 status = 1;
johnnykang0905 0:24e231906adc 137 wait(1);
johnnykang0905 0:24e231906adc 138 myled2 = 0;
johnnykang0905 0:24e231906adc 139 device.putc(0);
johnnykang0905 0:24e231906adc 140 }
johnnykang0905 0:24e231906adc 141
johnnykang0905 0:24e231906adc 142 // after few cycles the robot rebooting
johnnykang0905 0:24e231906adc 143 if(device.readable() == 0)
johnnykang0905 0:24e231906adc 144 {
johnnykang0905 0:24e231906adc 145 status = 0;
johnnykang0905 0:24e231906adc 146 }
johnnykang0905 0:24e231906adc 147
johnnykang0905 0:24e231906adc 148 Thread::wait(100);
johnnykang0905 0:24e231906adc 149 }
johnnykang0905 0:24e231906adc 150
johnnykang0905 0:24e231906adc 151 }
johnnykang0905 0:24e231906adc 152