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@9:37bb5f0e2975, 2017-03-16 (annotated)

Committer:
jplager3
Date:
Thu Mar 16 03:39:30 2017 +0000
Revision:
9:37bb5f0e2975
Parent:
8:cde09ae38be7
Child:
10:059154e51621
Functionality added: Roomba drives fwd until collision detected, executes ~90deg L/R turn (alternates direction), then resumes driving fwd with loop.

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 8:cde09ae38be7 7 #include "Motor.h"
jplager3 0:ada50658d850 8
jplager3 0:ada50658d850 9 Mutex mutex; //
jplager3 0:ada50658d850 10 Mutex mutex2; //
jplager3 0:ada50658d850 11 DigitalOut led1(LED1);
jplager3 0:ada50658d850 12 DigitalOut led2(LED2);
jplager3 0:ada50658d850 13 DigitalOut led3(LED3);
jplager3 0:ada50658d850 14 DigitalOut led4(LED4);
jplager3 0:ada50658d850 15 Thread thread1;
jplager3 0:ada50658d850 16 Thread thread2;
jplager3 0:ada50658d850 17 Thread thread3;
jplager3 0:ada50658d850 18 Thread thread4;
jplager3 0:ada50658d850 19 SPI spi(p11, p12, p13);
jplager3 0:ada50658d850 20 uLCD_4DGL uLCD(p28, p27, p30);
jplager3 0:ada50658d850 21 SDFileSystem sd(p5, p6, p7, p8, "sd"); //SD card
jplager3 0:ada50658d850 22 AnalogOut DACout(p18); //must be p18
CRaslawski 5:6ca141fc6c4e 23 AnalogIn IR(p20);
jplager3 0:ada50658d850 24 FILE *wave_file = NULL; //global bc its gotta be changed by Main while running in child thread
CRaslawski 6:21c5a7cf63de 25 FILE *wave_file2 = NULL;
jplager3 0:ada50658d850 26 wave_player waver(&DACout); //create wave_player object for speaker
jplager3 8:cde09ae38be7 27 //create objects for Motor Control
jplager3 8:cde09ae38be7 28 //PwmOut motorL(p21); // doesnt seem to work
jplager3 8:cde09ae38be7 29 //Motor Left(p21, p12, p11); //, p6, p5, 1); // pwm, fwd, rev, can brake
jplager3 8:cde09ae38be7 30 Motor Left(p21, p14, p13); // green wires. pwm, fwd, rev, add ", 1" for braking
jplager3 8:cde09ae38be7 31 Motor Right(p22, p12, p11); // red wires
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 }
jplager3 9:37bb5f0e2975 66 void drive(float speed){
jplager3 9:37bb5f0e2975 67 Left.speed(speed);
jplager3 9:37bb5f0e2975 68 Right.speed(speed);
jplager3 9:37bb5f0e2975 69 }
jplager3 9:37bb5f0e2975 70 void reverse(float speed){
jplager3 9:37bb5f0e2975 71 Left.speed(-speed);
jplager3 9:37bb5f0e2975 72 Right.speed(-speed);
jplager3 9:37bb5f0e2975 73 }
jplager3 9:37bb5f0e2975 74 void turnRight(float speed){
jplager3 9:37bb5f0e2975 75 Left.speed(speed);
jplager3 9:37bb5f0e2975 76 Right.speed(-speed);
jplager3 9:37bb5f0e2975 77 //wait(0.7);
jplager3 9:37bb5f0e2975 78 }
jplager3 9:37bb5f0e2975 79 void turnLeft(float speed){
jplager3 9:37bb5f0e2975 80 Left.speed(-speed);
jplager3 9:37bb5f0e2975 81 Right.speed(speed);
jplager3 9:37bb5f0e2975 82 //wait(0.7);
jplager3 9:37bb5f0e2975 83 }
jplager3 9:37bb5f0e2975 84 void stop(){
jplager3 9:37bb5f0e2975 85 Left.speed(0.0);
jplager3 9:37bb5f0e2975 86 Right.speed(0.0);
jplager3 9:37bb5f0e2975 87 }
jplager3 9:37bb5f0e2975 88
CRaslawski 6:21c5a7cf63de 89
jplager3 0:ada50658d850 90 int main() {
jplager3 9:37bb5f0e2975 91 Left.speed(0.0); //attempt at forcing Left to chill on startup. ineffective.
jplager3 9:37bb5f0e2975 92 Right.speed(0.0); //Right does not have the issue. Is chill on startup
jplager3 0:ada50658d850 93 //thread1.start(IR_thread); // read in IR data
jplager3 0:ada50658d850 94 thread2.start(LCD_thread1);
jplager3 0:ada50658d850 95 //thread3.start(Motor_thread);
jplager3 0:ada50658d850 96 thread4.start(sound_thread);
jplager3 0:ada50658d850 97
jplager3 9:37bb5f0e2975 98 float turnDirectionSelector = 0.3;
jplager3 9:37bb5f0e2975 99 drive(0.3); // begin driving fwd
jplager3 9:37bb5f0e2975 100 while(1){
CRaslawski 5:6ca141fc6c4e 101 //IR testing
jplager3 9:37bb5f0e2975 102 if(IR>0.3 && IR<0.5) { // scan for object
CRaslawski 5:6ca141fc6c4e 103 led1=1;
CRaslawski 5:6ca141fc6c4e 104 led2=led3=led4=0;
CRaslawski 5:6ca141fc6c4e 105 } else if (IR>0.5 && IR< 0.7) {
CRaslawski 5:6ca141fc6c4e 106 led1=led2=1;
CRaslawski 5:6ca141fc6c4e 107 led3=led4=0;
CRaslawski 5:6ca141fc6c4e 108 } else if (IR>0.7 && IR<0.9) {
CRaslawski 5:6ca141fc6c4e 109 led1=led2=led3=1;
CRaslawski 5:6ca141fc6c4e 110 led4=0;
CRaslawski 6:21c5a7cf63de 111 } else if(IR>0.9){ //collision threshold seems to be the same from IR=0.8 to IR=0.95
jplager3 9:37bb5f0e2975 112 // in this block, "collision" detected. Back up, execute turn, and proceed driving fwd.
CRaslawski 6:21c5a7cf63de 113 led1=led2=led3=led4=1;
CRaslawski 6:21c5a7cf63de 114 fclose(wave_file);
CRaslawski 6:21c5a7cf63de 115 thread4.terminate();
CRaslawski 6:21c5a7cf63de 116 thread4.start(beep);
jplager3 9:37bb5f0e2975 117 // reverse motors and turn Roomba here
jplager3 9:37bb5f0e2975 118 stop();
jplager3 9:37bb5f0e2975 119 wait(0.4);
jplager3 9:37bb5f0e2975 120 reverse(0.3);
jplager3 9:37bb5f0e2975 121 wait(2);
jplager3 9:37bb5f0e2975 122 turnDirectionSelector*=-1; // will alternate turning left/right upon collision
jplager3 9:37bb5f0e2975 123 turnRight(turnDirectionSelector);
jplager3 9:37bb5f0e2975 124 wait(1); //2s is a bit more than 180deg @ 0.3 speed
jplager3 9:37bb5f0e2975 125 stop();
jplager3 9:37bb5f0e2975 126
jplager3 9:37bb5f0e2975 127 wait(2); //wait for beeping to finish
CRaslawski 6:21c5a7cf63de 128 fclose(wave_file2);
CRaslawski 6:21c5a7cf63de 129 thread4.terminate();
CRaslawski 6:21c5a7cf63de 130 thread4.start(sound_thread);
jplager3 9:37bb5f0e2975 131 drive(0.4);
CRaslawski 5:6ca141fc6c4e 132 } else led1=led2=led3=led4=0;
jplager3 0:ada50658d850 133 }
jplager3 0:ada50658d850 134 }