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
Revision 15:02e772571d48, committed 2019-04-22
- Comitter:
- jprocter3
- Date:
- Mon Apr 22 18:55:43 2019 +0000
- Parent:
- 14:7e45dbeb0acf
- Commit message:
- fixed i2c interrupt block
Changed in this revision
diff -r 7e45dbeb0acf -r 02e772571d48 Servo.lib
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Servo.lib Mon Apr 22 18:55:43 2019 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/simon/code/Servo/#36b69a7ced07
diff -r 7e45dbeb0acf -r 02e772571d48 main.cpp
--- a/main.cpp Sat Apr 20 21:55:34 2019 +0000
+++ b/main.cpp Mon Apr 22 18:55:43 2019 +0000
@@ -6,6 +6,7 @@
#include "ultrasonic.h"
#include "SDFileSystem.h"
#include "wave_player.h"
+#include "Servo.h"
uLCD_4DGL uLCD(p13,p14,p29); // serial tx, serial rx, reset pin;
SDFileSystem sd(p5, p6, p7, p21, "sd"); //SD card
AnalogOut DACout(p18);
@@ -15,6 +16,7 @@
InterruptIn interrupt(p26);
I2C i2c(p28, p27);
Mpr121 mpr121(&i2c, Mpr121::ADD_VSS);
+Servo myservo(p22);
DigitalOut led1(LED1);
DigitalOut led2(LED2);
@@ -31,6 +33,8 @@
void fallInterrupt() {
touchpad = true;
+ mpr121.read(0x00);
+ mpr121.read(0x01);
}
void dist(int distance) {
@@ -40,9 +44,9 @@
m1.stop(0);
m2.stop(0);
Thread::wait(100);
- m1.speed(.75);
- m2.speed(-.75);
- Thread::wait(500);
+ m1.speed(.6);
+ m2.speed(-.6);
+ Thread::wait(400);
} else {
m1.speed(.5);
m2.speed(.5);
@@ -150,6 +154,24 @@
}
}
+void tail(void const *argument) {
+ while(1) {
+ if (state == STOP && (touched || fed)) {
+ for(int i=0; i<100; i++) {
+ myservo = i/100.0;
+ Thread::wait(10);
+ }
+ for(int i=100; i>0; i--) {
+ myservo = i/100.0;
+ Thread::wait(10);
+ }
+ } else {
+ myservo = 0.5;
+ }
+ Thread::wait(500);
+ }
+}
+
int main() {
uLCD.cls();
uLCD.printf("Change baudrate.....");
@@ -171,6 +193,7 @@
Thread thread2(touch);
Thread thread3(screen);
Thread thread4(sound);
+ Thread thread5(tail);
while(1) {
// Status LEDS
Jonathan Procter
