Diff: main.cpp

Revision:

0:24e231906adc

diff -r 000000000000 -r 24e231906adc main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun Apr 26 18:19:47 2020 +0000
@@ -0,0 +1,152 @@
+#include "mbed.h"
+#include "Motor.h"
+#include "rtos.h"
+
+
+int count = 0;
+int status = 0;
+
+Serial blue(p28,p27);
+Motor m1(p25, p7, p8); // pwm, fwd, rev
+Motor m2(p26, p5, p6); // pwm, fwd, rev
+
+
+
+// IR reciever connected to pin 14
+RawSerial device(p13, p14);
+
+
+//speaker 
+PwmOut  speaker (p21);
+
+// LED inctating and testing functionality 
+DigitalOut myled1(LED1);
+DigitalOut myled2(LED2);
+DigitalOut myled3(LED3);
+DigitalOut myled4(LED4);
+
+
+// RC control using Bluetooth and BlueFruit App
+void bluetooth_thread(void const *args)
+{
+    while(1) {
+        char bnum=0;
+        char bhit=0;
+    if(status == 0)
+    {   if (blue.getc()=='!') {
+            if (blue.getc()=='B') { //button data packet
+                bnum = blue.getc(); //button number
+                bhit = blue.getc(); //1=hit, 0=release
+                if (blue.getc()==char(~('!' + 'B' + bnum + bhit))) { //checksum OK?
+                // for case 1 - 4 (button 1 - 4) could be added additional functionality
+                    switch (bnum) {
+                        case '5': //button 5 (FORWARD)
+                            if (bhit=='1') {
+                                m1.speed(0.5);
+                                m2.speed(0.55);
+                            } else {
+                                m1.speed(0.0);
+                                m2.speed(0.0);  
+                            }                    
+                            break;
+                        case '6': //button 6 (REVERSE)
+                            if (bhit=='1') {
+                                m1.speed(-0.5);
+                                m2.speed(-0.54); 
+                            } else {
+                                m1.speed(0.0);
+                                m2.speed(0.0);
+                            }
+                            break;
+                        case '7': //button 7 (LEFT)
+                            if (bhit=='1') {
+                                m1.speed(-0.5);
+                                m2.speed(0.5);
+                            } else {
+                                m1.speed(0.0);
+                                m2.speed(0.0);
+                            }
+                            break;
+                        case '8': //button 8 (RIGHT)
+                            if (bhit=='1') {
+                                m1.speed(0.5);
+                                m2.speed(-0.54);
+                            } else {
+                                m1.speed(0.0);
+                                m2.speed(0.0);
+                            }
+                            break;
+                        default:
+                            break;
+                    }
+                }
+            }
+        }
+    }
+    
+    // LED 4 blinking to indicate that robot is shot and could not move
+    else if (status == 1)
+    {
+        myled4 = !myled4;
+        m1.speed(0.0);
+        m2.speed(0.0);
+        
+    }
+        
+    Thread::wait(200);
+        
+    }
+}
+
+// play sound and blinking 
+void blink_sound(void const *args) {
+    
+    while (1){
+ 
+    if (status == 1)
+    {
+        myled1 = !myled1;    
+        speaker =0.9; //90% duty cycle - max volume
+        Thread::wait(700);
+        speaker=0.0; // turn off audio
+    }
+
+    
+    Thread::wait(500);
+    }
+    
+}
+
+
+int main()
+{
+    
+    Thread thread1(bluetooth_thread);
+    Thread thread2(blink_sound);
+    device.baud(2400);
+    speaker.period(1.0/350.0); // 350hz period
+    
+    while(1) {
+        
+       
+            if(device.readable())
+            {
+                device.getc();
+                myled2 = 1;
+                status = 1;
+                wait(1);
+                myled2 = 0;
+                device.putc(0);
+            }
+            
+            // after few cycles the robot rebooting
+            if(device.readable() == 0)
+            {
+                status = 0;
+            }
+        
+        Thread::wait(100);
+    }
+
+}
+