James Plager / Mbed 2 deprecated Roomba_Project

Robot that currently does nothing

Dependencies:   4DGL-uLCD-SE SDFileSystem ShiftBrite mbed-rtos mbed wave_player Motor

main.cpp@6:21c5a7cf63de, 2017-03-15 (annotated)

Committer:
CRaslawski
Date:
Wed Mar 15 07:09:20 2017 +0000
Revision:
6:21c5a7cf63de
Parent:
5:6ca141fc6c4e
Child:
7:df218a6a1a01
added beep thread, if IR sensor detects prox vacuum thread is terminated and beeping thread begins. Runs for 5 seconds as a placeholder for Roomba backing up and turning, then resumes vacuuming

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jplager3 0:ada50658d850 1 #include "mbed.h"
jplager3 0:ada50658d850 2 #include "rtos.h"
jplager3 0:ada50658d850 3 #include "uLCD_4DGL.h"
jplager3 0:ada50658d850 4 //#include "ShiftBrite.h"
jplager3 0:ada50658d850 5 #include "SDFileSystem.h"
jplager3 0:ada50658d850 6 #include "wave_player.h"
jplager3 0:ada50658d850 7
jplager3 0:ada50658d850 8 Mutex mutex; //
jplager3 0:ada50658d850 9 Mutex mutex2; //
jplager3 0:ada50658d850 10 DigitalOut led1(LED1);
jplager3 0:ada50658d850 11 DigitalOut led2(LED2);
jplager3 0:ada50658d850 12 DigitalOut led3(LED3);
jplager3 0:ada50658d850 13 DigitalOut led4(LED4);
jplager3 0:ada50658d850 14 Thread thread1;
jplager3 0:ada50658d850 15 Thread thread2;
jplager3 0:ada50658d850 16 Thread thread3;
jplager3 0:ada50658d850 17 Thread thread4;
jplager3 0:ada50658d850 18 //DigitalOut latch(p15);
jplager3 0:ada50658d850 19 //DigitalOut enable(p16);
jplager3 0:ada50658d850 20 SPI spi(p11, p12, p13);
jplager3 0:ada50658d850 21 //uLCD_4DGL uLCD(p28,p27,p29); //(p27, p28, p30); //tx, rx, rst
jplager3 0:ada50658d850 22 uLCD_4DGL uLCD(p28, p27, p30);
jplager3 0:ada50658d850 23 //ShiftBrite myBrite(p15,p16,spi); //latch, enable, spi
jplager3 0:ada50658d850 24 SDFileSystem sd(p5, p6, p7, p8, "sd"); //SD card
jplager3 0:ada50658d850 25 AnalogOut DACout(p18); //must be p18
CRaslawski 5:6ca141fc6c4e 26 AnalogIn IR(p20);
jplager3 0:ada50658d850 27 //RawSerial BT(p9, p10); //bluetooth pinout
jplager3 0:ada50658d850 28 FILE *wave_file = NULL; //global bc its gotta be changed by Main while running in child thread
CRaslawski 6:21c5a7cf63de 29 FILE *wave_file2 = NULL;
jplager3 0:ada50658d850 30 wave_player waver(&DACout); //create wave_player object for speaker
jplager3 0:ada50658d850 31
jplager3 0:ada50658d850 32 void LCD_thread1() {
jplager3 0:ada50658d850 33 while(1){
jplager3 0:ada50658d850 34 mutex.lock();
jplager3 0:ada50658d850 35 uLCD.filled_circle(64, 64, 12, 0xFF0000);
jplager3 0:ada50658d850 36 mutex.unlock();
jplager3 0:ada50658d850 37 wait(.5);
jplager3 0:ada50658d850 38 mutex.lock();
jplager3 0:ada50658d850 39 uLCD.filled_circle(64, 64, 12, 0x0000FF);
jplager3 0:ada50658d850 40 mutex.unlock();
jplager3 0:ada50658d850 41 wait(.5);
jplager3 0:ada50658d850 42 }
jplager3 0:ada50658d850 43 }
jplager3 0:ada50658d850 44 void sound_thread(){
CRaslawski 4:589e4a2028a7 45 while(1) {
CRaslawski 4:589e4a2028a7 46 //FILE *wave_file;
CRaslawski 4:589e4a2028a7 47 wave_file=fopen("/sd/vacuum.wav","r");
CRaslawski 4:589e4a2028a7 48 if (wave_file == NULL){
CRaslawski 6:21c5a7cf63de 49 led1=led4 = 1; // if file read error, outside LEDs are on
CRaslawski 6:21c5a7cf63de 50 led2=led3 = 0;
CRaslawski 4:589e4a2028a7 51 }
CRaslawski 4:589e4a2028a7 52 waver.play(wave_file);
CRaslawski 4:589e4a2028a7 53 fclose(wave_file);
jplager3 0:ada50658d850 54 }
jplager3 0:ada50658d850 55 }
CRaslawski 5:6ca141fc6c4e 56
CRaslawski 6:21c5a7cf63de 57 void beep(){
CRaslawski 6:21c5a7cf63de 58 wave_file2=fopen("/sd/beep.wav","r");
CRaslawski 6:21c5a7cf63de 59 if(wave_file2 == NULL) {
CRaslawski 6:21c5a7cf63de 60 led1=led4 = 0; // if file read error, inside LEDs are on
CRaslawski 6:21c5a7cf63de 61 led2=led3 = 0;
CRaslawski 6:21c5a7cf63de 62 }
CRaslawski 6:21c5a7cf63de 63 waver.play(wave_file2);
CRaslawski 6:21c5a7cf63de 64 fclose(wave_file2);
CRaslawski 6:21c5a7cf63de 65 }
CRaslawski 6:21c5a7cf63de 66
jplager3 0:ada50658d850 67 int main() {
jplager3 0:ada50658d850 68 //thread1.start(IR_thread); // read in IR data
jplager3 0:ada50658d850 69 thread2.start(LCD_thread1);
jplager3 0:ada50658d850 70 //thread3.start(Motor_thread);
jplager3 0:ada50658d850 71 thread4.start(sound_thread);
jplager3 0:ada50658d850 72
CRaslawski 5:6ca141fc6c4e 73 while(1){
CRaslawski 5:6ca141fc6c4e 74 //IR testing
CRaslawski 5:6ca141fc6c4e 75 if(IR>0.3 && IR<0.5) {
CRaslawski 5:6ca141fc6c4e 76 led1=1;
CRaslawski 5:6ca141fc6c4e 77 led2=led3=led4=0;
CRaslawski 5:6ca141fc6c4e 78 } else if (IR>0.5 && IR< 0.7) {
CRaslawski 5:6ca141fc6c4e 79 led1=led2=1;
CRaslawski 5:6ca141fc6c4e 80 led3=led4=0;
CRaslawski 5:6ca141fc6c4e 81 } else if (IR>0.7 && IR<0.9) {
CRaslawski 5:6ca141fc6c4e 82 led1=led2=led3=1;
CRaslawski 5:6ca141fc6c4e 83 led4=0;
CRaslawski 6:21c5a7cf63de 84 } else if(IR>0.9){ //collision threshold seems to be the same from IR=0.8 to IR=0.95
CRaslawski 6:21c5a7cf63de 85 led1=led2=led3=led4=1;
CRaslawski 6:21c5a7cf63de 86 fclose(wave_file);
CRaslawski 6:21c5a7cf63de 87 thread4.terminate();
CRaslawski 6:21c5a7cf63de 88 thread4.start(beep);
CRaslawski 6:21c5a7cf63de 89 /* reverse motors and turn Roomba here
CRaslawski 6:21c5a7cf63de 90 *
CRaslawski 6:21c5a7cf63de 91 *
CRaslawski 6:21c5a7cf63de 92 *
CRaslawski 6:21c5a7cf63de 93 *
CRaslawski 6:21c5a7cf63de 94 */
CRaslawski 6:21c5a7cf63de 95 wait(5); //wait for beeping to finish
CRaslawski 6:21c5a7cf63de 96 fclose(wave_file2);
CRaslawski 6:21c5a7cf63de 97 thread4.terminate();
CRaslawski 6:21c5a7cf63de 98 thread4.start(sound_thread);
CRaslawski 5:6ca141fc6c4e 99 } else led1=led2=led3=led4=0;
jplager3 0:ada50658d850 100 }
jplager3 0:ada50658d850 101 // use mutex to lock getc(), printf(), scanf()
jplager3 0:ada50658d850 102 // don't unlock until you've checked that it's readable()
jplager3 0:ada50658d850 103 }