Code for a robotic pet to interact with.
Dependencies: mbed wave_player Servo Motordriver mbed-rtos 4DGL-uLCD-SE SDFileSystem_OldbutworkswithRTOS HC_SR04_Ultrasonic_Library
main.cpp@14:7e45dbeb0acf, 2019-04-20 (annotated)
- Committer:
- jprocter3
- Date:
- Sat Apr 20 21:55:34 2019 +0000
- Revision:
- 14:7e45dbeb0acf
- Parent:
- 12:492f2a122e39
- Child:
- 15:02e772571d48
Worked on some timings, screen sizes
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jprocter3 | 0:7b070cdce8bd | 1 | #include "mbed.h" |
skrgo3 | 7:7050d3c2b720 | 2 | #include "motordriver.h" |
jprocter3 | 0:7b070cdce8bd | 3 | #include "rtos.h" |
jprocter3 | 0:7b070cdce8bd | 4 | #include "uLCD_4DGL.h" |
jprocter3 | 5:d7b32a06799d | 5 | #include "mpr121.h" |
skrgo3 | 1:a2a5171ac99f | 6 | #include "ultrasonic.h" |
jprocter3 | 12:492f2a122e39 | 7 | #include "SDFileSystem.h" |
jprocter3 | 12:492f2a122e39 | 8 | #include "wave_player.h" |
jprocter3 | 11:aa6d9d72b5a2 | 9 | uLCD_4DGL uLCD(p13,p14,p29); // serial tx, serial rx, reset pin; |
jprocter3 | 12:492f2a122e39 | 10 | SDFileSystem sd(p5, p6, p7, p21, "sd"); //SD card |
jprocter3 | 12:492f2a122e39 | 11 | AnalogOut DACout(p18); |
jprocter3 | 12:492f2a122e39 | 12 | wave_player waver(&DACout); |
jprocter3 | 11:aa6d9d72b5a2 | 13 | Motor m1(p23, p30, p8, 1); // pwm, fwd, rev |
skrgo3 | 7:7050d3c2b720 | 14 | Motor m2(p24, p9, p10, 1); // pwm, fwd, rev |
jprocter3 | 11:aa6d9d72b5a2 | 15 | InterruptIn interrupt(p26); |
jprocter3 | 11:aa6d9d72b5a2 | 16 | I2C i2c(p28, p27); |
jprocter3 | 11:aa6d9d72b5a2 | 17 | Mpr121 mpr121(&i2c, Mpr121::ADD_VSS); |
jprocter3 | 0:7b070cdce8bd | 18 | |
jprocter3 | 0:7b070cdce8bd | 19 | DigitalOut led1(LED1); |
jprocter3 | 0:7b070cdce8bd | 20 | DigitalOut led2(LED2); |
jprocter3 | 0:7b070cdce8bd | 21 | DigitalOut led3(LED3); |
jprocter3 | 0:7b070cdce8bd | 22 | DigitalOut led4(LED4); |
jprocter3 | 0:7b070cdce8bd | 23 | |
jprocter3 | 2:672f7335a017 | 24 | enum {ROAM, STOP, SLEEP}; |
jprocter3 | 9:8a5b623fff86 | 25 | volatile int state; |
jprocter3 | 2:672f7335a017 | 26 | |
jprocter3 | 8:ddddef6634cd | 27 | volatile int energy; |
jprocter3 | 6:93e21d47480b | 28 | volatile bool touched; |
jprocter3 | 2:672f7335a017 | 29 | volatile bool fed; |
jprocter3 | 11:aa6d9d72b5a2 | 30 | volatile bool touchpad; |
jprocter3 | 0:7b070cdce8bd | 31 | |
jprocter3 | 11:aa6d9d72b5a2 | 32 | void fallInterrupt() { |
jprocter3 | 11:aa6d9d72b5a2 | 33 | touchpad = true; |
jprocter3 | 11:aa6d9d72b5a2 | 34 | } |
jprocter3 | 11:aa6d9d72b5a2 | 35 | |
jprocter3 | 11:aa6d9d72b5a2 | 36 | void dist(int distance) { |
jprocter3 | 9:8a5b623fff86 | 37 | //control wheels |
skrgo3 | 7:7050d3c2b720 | 38 | if (state == ROAM) { |
skrgo3 | 7:7050d3c2b720 | 39 | if(distance < 250) { |
skrgo3 | 7:7050d3c2b720 | 40 | m1.stop(0); |
skrgo3 | 7:7050d3c2b720 | 41 | m2.stop(0); |
skrgo3 | 7:7050d3c2b720 | 42 | Thread::wait(100); |
skrgo3 | 7:7050d3c2b720 | 43 | m1.speed(.75); |
skrgo3 | 7:7050d3c2b720 | 44 | m2.speed(-.75); |
skrgo3 | 7:7050d3c2b720 | 45 | Thread::wait(500); |
jprocter3 | 9:8a5b623fff86 | 46 | } else { |
jprocter3 | 9:8a5b623fff86 | 47 | m1.speed(.5); |
jprocter3 | 9:8a5b623fff86 | 48 | m2.speed(.5); |
jprocter3 | 9:8a5b623fff86 | 49 | } |
jprocter3 | 8:ddddef6634cd | 50 | } else { // stop for STOP and SLEEP |
jprocter3 | 8:ddddef6634cd | 51 | m1.stop(0); |
jprocter3 | 8:ddddef6634cd | 52 | m2.stop(0); |
jprocter3 | 8:ddddef6634cd | 53 | } |
jprocter3 | 9:8a5b623fff86 | 54 | |
jprocter3 | 8:ddddef6634cd | 55 | if (state == STOP && distance < 60) { |
skrgo3 | 1:a2a5171ac99f | 56 | //increase food status |
jprocter3 | 5:d7b32a06799d | 57 | fed = true; |
jprocter3 | 5:d7b32a06799d | 58 | Thread::wait(3000); // make sure fed state lasts atleast 3 seconds |
jprocter3 | 5:d7b32a06799d | 59 | fed = false; |
skrgo3 | 1:a2a5171ac99f | 60 | } |
skrgo3 | 1:a2a5171ac99f | 61 | } |
jprocter3 | 8:ddddef6634cd | 62 | |
jprocter3 | 10:29a382784838 | 63 | ultrasonic mu(p11, p12, .1, 1, &dist); |
jprocter3 | 0:7b070cdce8bd | 64 | |
jprocter3 | 0:7b070cdce8bd | 65 | void sonar(void const *argument) { |
jprocter3 | 5:d7b32a06799d | 66 | while(1) { |
skrgo3 | 1:a2a5171ac99f | 67 | mu.checkDistance(); |
skrgo3 | 1:a2a5171ac99f | 68 | Thread::wait(100); |
skrgo3 | 1:a2a5171ac99f | 69 | } |
jprocter3 | 0:7b070cdce8bd | 70 | } |
jprocter3 | 0:7b070cdce8bd | 71 | |
jprocter3 | 11:aa6d9d72b5a2 | 72 | void touch(void const *argument) { |
jprocter3 | 11:aa6d9d72b5a2 | 73 | while(1) { |
jprocter3 | 11:aa6d9d72b5a2 | 74 | if (touchpad) { |
jprocter3 | 11:aa6d9d72b5a2 | 75 | touched = true; |
jprocter3 | 11:aa6d9d72b5a2 | 76 | Thread::wait(5000); |
jprocter3 | 11:aa6d9d72b5a2 | 77 | touchpad = false; |
jprocter3 | 11:aa6d9d72b5a2 | 78 | } else { |
jprocter3 | 11:aa6d9d72b5a2 | 79 | touched = false; |
jprocter3 | 11:aa6d9d72b5a2 | 80 | } |
jprocter3 | 11:aa6d9d72b5a2 | 81 | Thread::wait(100); // runs 10 times a second |
jprocter3 | 11:aa6d9d72b5a2 | 82 | } |
jprocter3 | 11:aa6d9d72b5a2 | 83 | } |
jprocter3 | 0:7b070cdce8bd | 84 | |
jprocter3 | 11:aa6d9d72b5a2 | 85 | void screen(void const *argument) { |
jprocter3 | 11:aa6d9d72b5a2 | 86 | while(1) { |
jprocter3 | 11:aa6d9d72b5a2 | 87 | uLCD.filled_rectangle(0, 0, 127, 127, BLACK); // clear screen |
jprocter3 | 11:aa6d9d72b5a2 | 88 | switch(state) { |
jprocter3 | 11:aa6d9d72b5a2 | 89 | case ROAM: { |
jprocter3 | 14:7e45dbeb0acf | 90 | uLCD.circle(64, 64, 30, BLUE); // blue circle in the center |
jprocter3 | 14:7e45dbeb0acf | 91 | uLCD.filled_circle(64, 64, 5, BLUE); // blue circle in the center |
jprocter3 | 11:aa6d9d72b5a2 | 92 | } break; |
jprocter3 | 11:aa6d9d72b5a2 | 93 | case STOP: { |
jprocter3 | 11:aa6d9d72b5a2 | 94 | uLCD.locate(0,0); |
jprocter3 | 14:7e45dbeb0acf | 95 | uLCD.text_width(12); |
jprocter3 | 14:7e45dbeb0acf | 96 | uLCD.text_height(12); |
jprocter3 | 14:7e45dbeb0acf | 97 | if (fed || touched) { // touched or fed |
jprocter3 | 14:7e45dbeb0acf | 98 | uLCD.text_width(9); |
jprocter3 | 14:7e45dbeb0acf | 99 | uLCD.text_height(9); |
jprocter3 | 14:7e45dbeb0acf | 100 | uLCD.color(RED); |
jprocter3 | 14:7e45dbeb0acf | 101 | uLCD.printf("<3"); |
jprocter3 | 14:7e45dbeb0acf | 102 | } else if (energy < 30) { // tired |
jprocter3 | 11:aa6d9d72b5a2 | 103 | uLCD.color(RED+GREEN); |
jprocter3 | 11:aa6d9d72b5a2 | 104 | uLCD.printf("0"); // yellow 0's |
jprocter3 | 11:aa6d9d72b5a2 | 105 | } else { // wondering |
jprocter3 | 11:aa6d9d72b5a2 | 106 | uLCD.color(BLUE); |
jprocter3 | 11:aa6d9d72b5a2 | 107 | uLCD.printf("?"); // blue ?'s |
jprocter3 | 11:aa6d9d72b5a2 | 108 | } |
jprocter3 | 11:aa6d9d72b5a2 | 109 | } break; |
jprocter3 | 11:aa6d9d72b5a2 | 110 | case SLEEP: { |
jprocter3 | 11:aa6d9d72b5a2 | 111 | uLCD.locate(0,0); |
jprocter3 | 14:7e45dbeb0acf | 112 | uLCD.text_width(12); |
jprocter3 | 14:7e45dbeb0acf | 113 | uLCD.text_height(12); |
jprocter3 | 11:aa6d9d72b5a2 | 114 | uLCD.color(BLUE); |
jprocter3 | 11:aa6d9d72b5a2 | 115 | uLCD.printf("Z"); // blue Z's |
jprocter3 | 11:aa6d9d72b5a2 | 116 | } |
jprocter3 | 11:aa6d9d72b5a2 | 117 | } |
jprocter3 | 11:aa6d9d72b5a2 | 118 | |
jprocter3 | 11:aa6d9d72b5a2 | 119 | Thread::wait(100); |
jprocter3 | 11:aa6d9d72b5a2 | 120 | } |
jprocter3 | 11:aa6d9d72b5a2 | 121 | } |
jprocter3 | 11:aa6d9d72b5a2 | 122 | |
jprocter3 | 12:492f2a122e39 | 123 | void sound(void const *argument) { |
jprocter3 | 12:492f2a122e39 | 124 | FILE *wave_file; |
jprocter3 | 12:492f2a122e39 | 125 | while(1) { |
jprocter3 | 12:492f2a122e39 | 126 | switch(state) { |
jprocter3 | 12:492f2a122e39 | 127 | case STOP: { |
jprocter3 | 14:7e45dbeb0acf | 128 | if (fed) { // fed |
jprocter3 | 12:492f2a122e39 | 129 | wave_file=fopen("/sd/eat.wav","r"); // 2 seconds |
jprocter3 | 12:492f2a122e39 | 130 | } else if (touched) { // touched |
jprocter3 | 12:492f2a122e39 | 131 | wave_file=fopen("/sd/purr.wav","r"); // 3 seconds |
jprocter3 | 14:7e45dbeb0acf | 132 | } else if (energy < 30) { // tired |
jprocter3 | 14:7e45dbeb0acf | 133 | wave_file=fopen("/sd/bark.wav","r"); // < 1 second |
jprocter3 | 14:7e45dbeb0acf | 134 | Thread::wait(500); |
jprocter3 | 12:492f2a122e39 | 135 | } else { // wondering |
jprocter3 | 12:492f2a122e39 | 136 | wave_file=fopen("/sd/curious.wav","r"); // 1 second |
jprocter3 | 14:7e45dbeb0acf | 137 | Thread::wait(1000); |
jprocter3 | 12:492f2a122e39 | 138 | } |
jprocter3 | 12:492f2a122e39 | 139 | waver.play(wave_file); |
jprocter3 | 12:492f2a122e39 | 140 | fclose(wave_file); |
jprocter3 | 12:492f2a122e39 | 141 | } break; |
jprocter3 | 12:492f2a122e39 | 142 | case SLEEP: { |
jprocter3 | 12:492f2a122e39 | 143 | wave_file=fopen("/sd/sleep.wav","r"); // 8 seconds |
jprocter3 | 12:492f2a122e39 | 144 | waver.play(wave_file); |
jprocter3 | 12:492f2a122e39 | 145 | fclose(wave_file); |
jprocter3 | 12:492f2a122e39 | 146 | } |
jprocter3 | 12:492f2a122e39 | 147 | } |
jprocter3 | 12:492f2a122e39 | 148 | |
jprocter3 | 12:492f2a122e39 | 149 | Thread::wait(100); |
jprocter3 | 12:492f2a122e39 | 150 | } |
jprocter3 | 12:492f2a122e39 | 151 | } |
jprocter3 | 0:7b070cdce8bd | 152 | |
jprocter3 | 0:7b070cdce8bd | 153 | int main() { |
jprocter3 | 11:aa6d9d72b5a2 | 154 | uLCD.cls(); |
jprocter3 | 11:aa6d9d72b5a2 | 155 | uLCD.printf("Change baudrate....."); |
jprocter3 | 11:aa6d9d72b5a2 | 156 | uLCD.baudrate(3000000); //jack up baud rate to max |
jprocter3 | 11:aa6d9d72b5a2 | 157 | uLCD.background_color(BLACK); |
jprocter3 | 14:7e45dbeb0acf | 158 | uLCD.cls(); |
jprocter3 | 11:aa6d9d72b5a2 | 159 | uLCD.text_bold(ON); |
jprocter3 | 11:aa6d9d72b5a2 | 160 | uLCD.text_mode(OPAQUE); |
jprocter3 | 11:aa6d9d72b5a2 | 161 | |
skrgo3 | 1:a2a5171ac99f | 162 | mu.startUpdates(); |
jprocter3 | 11:aa6d9d72b5a2 | 163 | |
jprocter3 | 11:aa6d9d72b5a2 | 164 | interrupt.fall(&fallInterrupt); |
jprocter3 | 11:aa6d9d72b5a2 | 165 | interrupt.mode(PullUp); |
jprocter3 | 0:7b070cdce8bd | 166 | |
jprocter3 | 8:ddddef6634cd | 167 | state = ROAM; |
jprocter3 | 8:ddddef6634cd | 168 | energy = 70; |
jprocter3 | 8:ddddef6634cd | 169 | |
skrgo3 | 7:7050d3c2b720 | 170 | Thread thread1(sonar); |
jprocter3 | 11:aa6d9d72b5a2 | 171 | Thread thread2(touch); |
jprocter3 | 11:aa6d9d72b5a2 | 172 | Thread thread3(screen); |
jprocter3 | 12:492f2a122e39 | 173 | Thread thread4(sound); |
jprocter3 | 0:7b070cdce8bd | 174 | |
jprocter3 | 0:7b070cdce8bd | 175 | while(1) { |
jprocter3 | 2:672f7335a017 | 176 | // Status LEDS |
jprocter3 | 2:672f7335a017 | 177 | led3 = touched; |
jprocter3 | 2:672f7335a017 | 178 | led4 = fed; |
jprocter3 | 0:7b070cdce8bd | 179 | |
jprocter3 | 2:672f7335a017 | 180 | // Update state |
jprocter3 | 2:672f7335a017 | 181 | if (energy < 5) { // sleeps for 10 seconds and wake up with 50 more energy |
jprocter3 | 2:672f7335a017 | 182 | state = SLEEP; |
jprocter3 | 10:29a382784838 | 183 | led1 = 1; |
jprocter3 | 10:29a382784838 | 184 | led2 = 1; |
jprocter3 | 2:672f7335a017 | 185 | Thread::wait(10000); |
jprocter3 | 2:672f7335a017 | 186 | energy += 50; |
jprocter3 | 6:93e21d47480b | 187 | } else if (energy < 30 || touched || fed) { |
jprocter3 | 2:672f7335a017 | 188 | state = STOP; |
jprocter3 | 10:29a382784838 | 189 | led1 = 0; |
jprocter3 | 10:29a382784838 | 190 | led2 = 1; |
jprocter3 | 14:7e45dbeb0acf | 191 | } else if (state == STOP) { |
jprocter3 | 14:7e45dbeb0acf | 192 | Thread::wait(6000); // wait wondering for 5 seconds after touched or fed |
jprocter3 | 14:7e45dbeb0acf | 193 | state = ROAM; |
jprocter3 | 2:672f7335a017 | 194 | } else { |
jprocter3 | 2:672f7335a017 | 195 | state = ROAM; |
jprocter3 | 11:aa6d9d72b5a2 | 196 | led1 = 1; |
jprocter3 | 10:29a382784838 | 197 | led2 = 0; |
jprocter3 | 2:672f7335a017 | 198 | } |
jprocter3 | 2:672f7335a017 | 199 | |
jprocter3 | 2:672f7335a017 | 200 | // Update energy |
jprocter3 | 2:672f7335a017 | 201 | switch(state) { |
jprocter3 | 4:9c2c77d61a15 | 202 | case ROAM: energy -= 2; |
jprocter3 | 2:672f7335a017 | 203 | break; |
jprocter3 | 4:9c2c77d61a15 | 204 | case STOP : energy -= 1; |
jprocter3 | 11:aa6d9d72b5a2 | 205 | if (fed) { |
jprocter3 | 11:aa6d9d72b5a2 | 206 | energy += 10; // +10 energy a second while fed |
jprocter3 | 11:aa6d9d72b5a2 | 207 | } |
jprocter3 | 2:672f7335a017 | 208 | break; |
jprocter3 | 2:672f7335a017 | 209 | } |
jprocter3 | 2:672f7335a017 | 210 | |
jprocter3 | 2:672f7335a017 | 211 | // Make sure energy stays in 0-100 |
jprocter3 | 2:672f7335a017 | 212 | if (energy < 0) { |
jprocter3 | 2:672f7335a017 | 213 | energy = 0; |
jprocter3 | 2:672f7335a017 | 214 | } else if (energy > 100) { |
jprocter3 | 2:672f7335a017 | 215 | energy = 100; |
jprocter3 | 2:672f7335a017 | 216 | } |
jprocter3 | 4:9c2c77d61a15 | 217 | |
jprocter3 | 4:9c2c77d61a15 | 218 | Thread::wait(1000); // runs once per second |
jprocter3 | 0:7b070cdce8bd | 219 | } |
jprocter3 | 0:7b070cdce8bd | 220 | } |