Johnny Kang
Final Project
Dependencies: mbed mbed-rtos Motor
Revision 0:24e231906adc, committed 2020-04-26
- Comitter:
- johnnykang0905
- Date:
- Sun Apr 26 18:19:47 2020 +0000
- Commit message:
- Written by Eduard Shuvaev
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Motor.lib Sun Apr 26 18:19:47 2020 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/simon/code/Motor/#f265e441bcd9
--- /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);
+ }
+
+}
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-rtos.lib Sun Apr 26 18:19:47 2020 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/ST/code/mbed-rtos/#83895f30f8f2
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sun Apr 26 18:19:47 2020 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file