main.cpp

00001 #include "mbed.h"
00002 #include "ESP8266Interface.h"
00003 #include "TCPSocketConnection.h"
00004 #include "TCPSocketServer.h"
00005 #include "Websocket.h"
00006 #include "motordriver.h"
00007 #include "HTTPClient.h"
00008 
00009 ESP8266Interface wifi(p28,p27,p26,"HOME-0392","D64D858A064D14BF",115200); // TX,RX,Reset,SSID,Password,Baud
00010 Motor r(p22, p18, p17, 1);
00011 Motor m(p21, p20, p19, 1); // pwm, fwd, rev
00012 DigitalOut led1(LED1);
00013 DigitalOut led2(LED2);
00014 DigitalOut led3(LED3);
00015 DigitalOut led4(LED4);
00016 Serial pc(USBTX, USBRX);
00017 
00018 void forward()
00019 {
00020     led1 = 1;
00021     r.speed(.6f);
00022     m.speed(.6f);
00023     wait(1.5);
00024     r.coast();
00025     m.coast();
00026     led1 = 0;
00027 }
00028 void backward()
00029 {
00030     led2 = 1;
00031     r.speed(-.6f);
00032     m.speed(-.6f);
00033     wait(1.5);
00034     r.coast();
00035     m.coast();
00036     led2 = 0;
00037 }
00038 void left()
00039 {
00040     led3 = 1;
00041     wait(.5);
00042     r.speed(.6f);
00043     m.speed(-.6f);
00044     wait(1.5);
00045     r.coast();
00046     m.coast();
00047     led3 = 0;
00048 }
00049 void right()
00050 {
00051     led4 = 1;
00052     wait(.5);
00053     r.speed(-.6f);
00054     m.speed(.6f);
00055     wait(1.5);
00056     r.coast();
00057     m.coast();
00058     led4 = 0;
00059 }
00060 
00061 int main()
00062 {
00063     wifi.init(); //Reset
00064     wifi.connect(); //Use DHCP
00065     pc.printf("IP Address is %s\n", wifi.getIPAddress());
00066 
00067     Websocket ws("ws://10.0.0.16:8080/ws");
00068     if(!ws.connect()) {
00069         ws.close();
00070     } else {
00071         char str[10];
00072         char a;
00073         while(1) {
00074             //ready for new control
00075             sprintf(str, "1");
00076             pc.printf("%d",str);
00077             ws.send(str); //send to server stating ready for new instruction
00078             //memset(str,0,10);
00079             wait(0.5f);
00080 
00081             if(ws.read(str)) {
00082                 pc.printf("%s\n", *str);
00083                 a = str[0];
00084                 pc.printf("%s",a);
00085                 if(a=='1') {
00086                     forward();
00087                 }
00088                 if(a=='2') {
00089                     backward();
00090                 }
00091                 if(a=='3') {
00092                     left();
00093                 }
00094                 if(a=='4') {
00095                     right();
00096                 }
00097             } else {
00098                 //led1=led2=led3=led4=1;
00099             }
00100             //memset(str,0,10);
00101             wait(3);
00102         }
00103     }
00104 
00105 }