Keith Liang
/
FP
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Dependencies: mbed mbed-rtos Motor HC_SR04_Ultrasonic_Library
Diff: main.cpp
- Revision:
- 0:8048099359db
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Nov 30 00:22:27 2020 +0000
@@ -0,0 +1,227 @@
+#include "mbed.h"
+//#include "wave_player.h"
+//#include "SDFileSystem.h"
+#include "Motor.h"
+#include "rtos.h"
+//#include "RGBLed.h"
+#include "ultrasonic.h"
+#include "Speaker.h"
+Speaker speak(p26); //Speaker
+Serial blue(p28,p27); //Bluetooth Module
+Motor A(p21, p5, p13); // pwm, fwd, rev, can brake Back Left
+Motor B(p22, p14, p8); // pwm, fwd, rev, can brake Back Right
+Motor C(p23, p11, p12); // pwm, fwd, rev, can brake Front Right
+Motor D(p24, p9, p10); // pwm, fwd, rev, can brake Front Left
+DigitalOut myled(LED2);
+//AnalogOut DACout(p18);
+//wave_player waver(&DACout);
+float RmotorSpeed = 0.0;
+float LmotorSpeed = 0.0;
+
+int triggerDist = 300;
+
+void dist(int distance)
+{
+ if(distance <= triggerDist) {
+ RmotorSpeed = 0.0;
+ LmotorSpeed = 0.0;
+ A.speed(LmotorSpeed);
+ B.speed(RmotorSpeed);
+ C.speed(RmotorSpeed);
+ D.speed(LmotorSpeed);
+ speak.PlayNote(500.0, 2, 0.2);
+ }
+}
+ultrasonic mu(p6, p7, .1, 1, &dist);
+
+void startSonar(void const* argument){
+ mu.startUpdates();
+ while(1) {
+ mu.checkDistance();
+ Thread::wait(50);
+ }
+}
+
+void turnRight(){
+ A.speed(0.5);
+ B.speed(-0.5);
+ C.speed(-0.5);
+ D.speed(0.5);
+ wait(1.05);
+ A.speed(0);
+ B.speed(0);
+ C.speed(0);
+ D.speed(0);
+}
+void turnLeft(){
+ A.speed(-0.5);
+ B.speed(0.5);
+ C.speed(0.5);
+ D.speed(-0.5);
+ wait(1.2);
+ A.speed(0);
+ B.speed(0);
+ C.speed(0);
+ D.speed(0);
+}
+
+int main()
+{
+ Thread thread1(startSonar);
+
+ char bnum = 0;
+ char bhit = 0;
+ while(1)
+ {
+
+ A.speed(LmotorSpeed);
+ B.speed(RmotorSpeed);
+ C.speed(RmotorSpeed);
+ D.speed(LmotorSpeed);
+
+ if (blue.getc() == '!') {
+ char cmd = blue.getc();
+ if (cmd == 'B') { //button data packet
+ bnum = blue.getc(); //button number
+ bhit = blue.getc(); //1=hit, 0=release
+ if (blue.getc() == char(~('!' + 'B' + bnum + bhit))) { //checksum OK?
+ switch (bnum) {
+ case '1': //number button 1
+ if (bhit=='1') {
+ //add hit code here
+ RmotorSpeed += 0.2;
+ LmotorSpeed += 0.2; // speed up
+ } else {
+ //add release code here
+ }
+ break;
+ case '2': //number button 2
+ if (bhit=='1') {
+ //add hit code here
+ } else {
+ //add release code here
+ LmotorSpeed -= 0.2;
+ RmotorSpeed -= 0.2;// slow down
+ }
+ break;
+ case '3': //number button 3
+ if (bhit=='1') {
+ //add hit code here
+ } else {
+ //add release code here
+ LmotorSpeed = 0.0;
+ RmotorSpeed = 0.0;
+ }
+ break;
+ case '4': //number button 4
+ if (bhit=='1') {
+ speak.PlayNote(969.0, .2, 0.2);
+ } else {
+ //add release code here
+
+ }
+ break;
+ case '5': //button 5 up arrow
+ if (bhit=='1') {
+ if(LmotorSpeed > 0 && RmotorSpeed > 0) {
+ }
+ else if(LmotorSpeed <= 0 && RmotorSpeed <= 0) {
+ LmotorSpeed = 0.4;
+ RmotorSpeed = 0.4;
+ }
+ } else {
+ //add release code here
+ }
+ break;
+ case '6': //button 6 down arrow
+ if (bhit=='1') {
+ if(LmotorSpeed < 0 && RmotorSpeed < 0) {
+
+ }
+ else if(LmotorSpeed >= 0 && RmotorSpeed >= 0) {
+ LmotorSpeed = -0.4;
+ RmotorSpeed = -0.4;
+ }
+ } else {
+ //add release code here
+ }
+ break;
+ case '7': //button 7 left arrow
+ if (bhit=='1') {
+ LmotorSpeed = 0.25*RmotorSpeed;
+ } else {
+ //add release code here
+ }
+ break;
+ case '8': //button 8 right arrow
+ if (bhit=='1') {
+ RmotorSpeed = 0.25*LmotorSpeed;
+ } else {
+ //add release code here
+ }
+ break;
+ default:
+ break;
+ }
+ }
+ }
+ else if (cmd == 'X') {
+ char first = blue.getc();
+ char second = blue.getc();
+ char comma = blue.getc();
+ char third = blue.getc();
+ char fourth = blue.getc();
+ int secondnum = second - '0';
+ float xdist = secondnum * .75;
+ int fourthnum = fourth - '0';
+ float ydist = fourthnum * .75;
+ if(third == '+'){
+ A.speed(0.5);
+ B.speed(0.5);
+ C.speed(0.5);
+ D.speed(0.5);
+ wait(ydist);
+ A.speed(0);
+ B.speed(0);
+ C.speed(0);
+ D.speed(0);
+ }
+ else if(third == '-'){
+ A.speed(-0.5);
+ B.speed(-0.5);
+ C.speed(-0.5);
+ D.speed(-0.5);
+ wait(ydist);
+ A.speed(0);
+ B.speed(0);
+ C.speed(0);
+ D.speed(0);
+ }
+ if(first == '+'){
+ turnRight();
+ A.speed(0.5);
+ B.speed(0.5);
+ C.speed(0.5);
+ D.speed(0.5);
+ wait(xdist);
+ A.speed(0);
+ B.speed(0);
+ C.speed(0);
+ D.speed(0);
+ }
+ else if(first == '-'){
+ turnLeft();
+ A.speed(0.5);
+ B.speed(0.5);
+ C.speed(0.5);
+ D.speed(0.5);
+ wait(xdist);
+ A.speed(0);
+ B.speed(0);
+ C.speed(0);
+ D.speed(0); }
+
+ }
+ }
+ }
+}
\ No newline at end of file