Josh Williams
Sonar Proximity Audio Alert for Robot
Dependencies: HC_SR04_Ultrasonic_Library Motor mbed-rtos mbed
Fork of
rtos_basic
by 
mbed official
Revision 12:42d63181dbdb, committed 2017-03-13
- Comitter:
- juubs
- Date:
- Mon Mar 13 18:35:56 2017 +0000
- Parent:
- 11:0309bef74ba8
- Commit message:
- Lab 4 Final
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HC_SR04_Ultrasonic_Library.lib Mon Mar 13 18:35:56 2017 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/ejteb/code/HC_SR04_Ultrasonic_Library/#e0f9c9fb4cf3
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Motor.lib Mon Mar 13 18:35:56 2017 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/simon/code/Motor/#f265e441bcd9
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Speaker.h Mon Mar 13 18:35:56 2017 +0000
@@ -0,0 +1,19 @@
+#include "mbed.h"
+// a new class to play a note on Speaker based on PwmOut class
+class Speaker
+{
+public:
+ Speaker(PinName pin) : _pin(pin) {
+// _pin(pin) means pass pin to the Speaker Constructor
+ }
+// class method to play a note based on PwmOut class
+ void PlayNote(float frequency, float duration, float volume) {
+ _pin.period(1.0/frequency);
+ _pin = volume/2.0;
+ wait(duration);
+ _pin = 0.0;
+ }
+
+private:
+ PwmOut _pin;
+};
\ No newline at end of file
--- a/main.cpp Wed Feb 15 14:04:02 2017 -0600
+++ b/main.cpp Mon Mar 13 18:35:56 2017 +0000
@@ -1,22 +1,109 @@
#include "mbed.h"
+#include "Speaker.h"
+#include "ultrasonic.h"
+#include "Motor.h"
#include "rtos.h"
-
-DigitalOut led1(LED1);
-DigitalOut led2(LED2);
-Thread thread;
-
-void led2_thread() {
- while (true) {
- led2 = !led2;
- Thread::wait(1000);
+
+RawSerial pc(USBTX, USBRX);
+RawSerial bluetooth(p28, p27);
+Motor leftWheel(p21, p20, p19);
+Motor rightWheel(p22, p15, p14);
+Speaker speaker(p23);
+
+float speed = .5;
+
+void bluetooth_thread(void const *args) {
+ char cmd, bhit, bnum;
+ while(true) {
+ if (bluetooth.getc() == '!') {
+ cmd = bluetooth.getc();
+ switch (cmd) {
+ case 'B': // button press
+ bnum = bluetooth.getc();
+ bhit = bluetooth.getc();
+ if (bluetooth.getc()==char(~('!' + 'B' + bnum + bhit))) { //checksum
+ switch (bnum) {
+ case '1':
+ speed = 1;
+ break;
+ case '2':
+ speed = .75;
+ break;
+ case '3':
+ speed = .5;
+ break;
+ case '4':
+ speed = .25;
+ break;
+ case '5': //up
+ if (bhit == '1') {
+ leftWheel.speed(speed);
+ rightWheel.speed(speed);
+ } else {
+ leftWheel.speed(0);
+ rightWheel.speed(0);
+ }
+ break;
+ case '6': //down
+ if (bhit == '1') {
+ leftWheel.speed(-1 * speed);
+ rightWheel.speed(-1 * speed);
+ } else {
+ leftWheel.speed(0);
+ rightWheel.speed(0);
+ }
+ break;
+ case '7': //left
+ if (bhit == '1') {
+ leftWheel.speed(-.5);
+ rightWheel.speed(.5);
+ } else {
+ leftWheel.speed(0);
+ rightWheel.speed(0);
+ }
+ break;
+ case '8': //right
+ if (bhit == '1') {
+ leftWheel.speed(.5);
+ rightWheel.speed(-.5);
+ } else {
+ leftWheel.speed(0);
+ rightWheel.speed(0);
+ }
+ break;
+ default:
+ break;
+ }
+ }
+ break;
+ default:
+ break;
+ }
+ }
}
}
-
+
+void dist(int distance) {
+ pc.printf("Distance %d mm\r\n", distance);
+ if (distance < 50) {
+ speaker.PlayNote(150, 0.15, 0.5);
+ } else if (distance < 100) {
+ speaker.PlayNote(150, 0.25, 0.02);
+ } else if (distance < 200) {
+ speaker.PlayNote(150, 0.5, 0.02);
+ } else if (distance < 300) {
+ speaker.PlayNote(150, 0.75, 0.02);
+ }
+ Thread::wait(50);
+}
+
+ultrasonic sonar(p6, p7, .1, 1, &dist);
+
int main() {
- thread.start(led2_thread);
+ sonar.startUpdates();
- while (true) {
- led1 = !led1;
- Thread::wait(500);
+ Thread bt_t(bluetooth_thread);
+ while(1) {
+ sonar.checkDistance();
}
}