Kshitij Kulkarni
/
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Dependencies: HC_SR04_Ultrasonic_Library Motor Servo mbed
Revision 0:7d7387eefc5a, committed 2018-05-02
- Comitter:
- kkulkarni36
- Date:
- Wed May 02 04:26:40 2018 +0000
- Commit message:
- ECE 4180 Flamebot
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HC_SR04_Ultrasonic_Library.lib Wed May 02 04:26:40 2018 +0000 @@ -0,0 +1,1 @@ +http://os.mbed.com/users/ejteb/code/HC_SR04_Ultrasonic_Library/#e0f9c9fb4cf3
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Motor.lib Wed May 02 04:26:40 2018 +0000 @@ -0,0 +1,1 @@ +http://os.mbed.com/users/simon/code/Motor/#f265e441bcd9
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Servo.lib Wed May 02 04:26:40 2018 +0000 @@ -0,0 +1,1 @@ +http://os.mbed.com/users/simon/code/Servo/#36b69a7ced07
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed May 02 04:26:40 2018 +0000
@@ -0,0 +1,149 @@
+#include "mbed.h"
+#include "Motor.h"
+#include "Servo.h"
+#include "ultrasonic.h"
+
+Motor m1(p25, p15, p14); // pwm, fwd, rev
+Motor m2(p26, p19, p20 ); // pwm, fwd, rev
+volatile bool move = 1;
+Serial bluemod(p9,p10);
+Serial pc(USBTX,USBRX);
+Servo myservo(p24);
+DigitalOut myled1(LED1);
+DigitalOut myled2(LED2);
+DigitalOut myled3(LED3);
+DigitalOut myled4(LED4);
+
+
+
+//C union can convert 4 chars to a float - puts them in same location in memory
+//trick to pack the 4 bytes from Bluetooth serial port back into a 32-bit float
+union f_or_char {
+ float f;
+ char c[4];
+};
+
+void dist(int distance)
+{
+ if (distance < 500.0) {
+ m1.speed(0.0);
+ m2.speed(0.0);
+ wait(1);
+ myservo = 0.0;
+ wait(1);
+ m1.speed(0.3);
+ m2.speed(-0.3);
+ wait(1.5);
+ m1.speed(0.0);
+ m2.speed(0.0);
+ wait(1.5);
+ move = 0;
+ myservo = 1.0;
+ myled1 = 1;
+ myled2 = 1;
+ myled3 = 1;
+ myled4 = 1;
+ wait(1);
+ myservo = 0.0;
+ myled1 = 0;
+ myled2 = 0;
+ myled3 = 0;
+ myled4 = 0;
+ wait(1);
+ }
+}
+
+ultrasonic sonar(p6, p7, .1, 1, &dist);
+
+int main()
+{
+ float s1;
+ float s2;
+ char bchecksum=0;
+ char temp=0;
+ union f_or_char x,y,z;
+
+ sonar.startUpdates();//start measuring the distance
+
+ while(1) {
+ bchecksum=0;
+ if (bluemod.getc()=='!') {
+ if (bluemod.getc()=='A') { //Accelerometer data packet
+ for (int i=0; i<4; i++) {
+ temp = bluemod.getc();
+ x.c[i] = temp;
+ bchecksum = bchecksum + temp;
+ }
+ for (int i=0; i<4; i++) {
+ temp = bluemod.getc();
+ y.c[i] = temp;
+ bchecksum = bchecksum + temp;
+ }
+ for (int i=0; i<4; i++) {
+ temp = bluemod.getc();
+ z.c[i] = temp;
+ bchecksum = bchecksum + temp;
+ }
+ if (bluemod.getc()==char(~('!' + 'A' + bchecksum))) { //checksum OK?
+ //pc.printf("X = %f Y = %f Z = %f\n\r",x.f, y.f, z.f);
+ move = 1;
+ if (x.f < -4.0) {
+ s1 = 0.3;
+ s2 = -0.3;
+ m1.speed(s1);
+ m2.speed(s2);
+ myled1 = 1;
+ myled2 = 0;
+ myled3 = 0;
+ myled4 = 0;
+ wait(0.05);
+ }
+ if (x.f > 4.0) {
+ s1 = -0.3;
+ s2 = 0.3;
+ m1.speed(s1);
+ m2.speed(s2);
+ myled1 = 0;
+ myled2 = 1;
+ myled3 = 0;
+ myled4 = 0;
+ wait(0.05);
+ }
+ if (y.f < -3.5) {
+ s1 = -0.2;
+ s2 = -0.2;
+ m1.speed(s1);
+ m2.speed(s2);
+ myled1 = 0;
+ myled2 = 0;
+ myled3 = 1;
+ myled4 = 0;
+ wait(0.05);
+ }
+ if (y.f > 3.0) {
+ s1 = 0.2;
+ s2 = 0.2;
+ m1.speed(s1);
+ m2.speed(s2);
+ myled1 = 0;
+ myled2 = 0;
+ myled3 = 0;
+ myled4 = 1;
+ wait(0.05);
+ }
+ if (x.f > -4.0 && x.f < 4.0 && y.f > -4.0 && y.f <4.0) {
+ s1 = 0.0;
+ s2 = 0.0;
+ m1.speed(s1);
+ m2.speed(s2);
+ wait(0.05);
+ }
+ while(move) {
+ sonar.checkDistance();
+ move = 0;
+ }
+ }
+ }
+ }
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed May 02 04:26:40 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/5aab5a7997ee \ No newline at end of file