Landon Ballard
Twin Motor Spybot using Mbed with bluetooth connection to a PC
Dependencies: mbed Motor X_NUCLEO_53L0A1
General Information
This code allows an mbed LPC1768 to be wirelessly controlled from a PC. The PC sends serial chars over Bluetooth to control motors connected to an H-Bridge. This code works via interrupt driven functions which receive the incoming chars over a serial Bluetooth connection. The chars are sent in the format "0.00" with a - sign if it is negative. The functions parse the strings out and convert them into float values before then writing them into the Motor API. This all works while the LIDAR polls readings to ensure that it is not to close to any objects.
The serial chars are generated on the PC by a C# application which reads gamepad inputs. (Motors are controlled via float values from the analog sticks).
Diff: main.cpp
- Revision:
- 0:df04be478939
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Nov 26 22:00:43 2019 +0000
@@ -0,0 +1,139 @@
+// Sweep the motor speed from full-speed reverse (-1.0) to full speed forwards (1.0)
+
+#include "mbed.h"
+#include "Motor.h"
+#include "XNucleo53L0A1.h"
+
+#define VL53L0_I2C_SDA p28 // To be changed based on Pins
+#define VL53L0_I2C_SCL p27 // To be changed based on Pins
+DigitalOut shdn(p26);
+
+Motor lm(p21, p7, p8); // pwm, fwd, rev
+Motor rm(p22, p6, p10); // pwm, fwd, rev
+//BusOut myled(LED1,LED2,LED3,LED4);
+Serial BT(p13,p14);
+Serial pc(USBTX,USBRX);
+BusOut led(p15,p16,p19,p18);
+PwmOut spkr(p23);
+DigitalOut spkrenable(p5);
+
+static XNucleo53L0A1 *board=NULL;
+bool stopMotor = false;
+bool turbo = false;
+
+float getSpeed(char& value) {
+
+ float ones, tens = 0, hundreds, n2, n3, dot;
+
+ dot = BT.getc();
+ n2 = BT.getc();
+ n3 = BT.getc();
+
+ ones = (float)(value -'0');
+
+ tens = (float)(n2 -'0');
+ tens = tens / 10.00;
+
+ hundreds = (float)(n3 - '0');
+ hundreds = hundreds/100.00;
+
+ return (ones + tens + hundreds);
+}
+
+void setMotorSpeed(Motor* motor, float mspeed) {
+if(mspeed <= 1.0){
+ if(abs(mspeed) > 0.2 && !stopMotor || mspeed > .2){
+ pc.printf("%0.2f is the motor speed\n\r", mspeed);
+ if(turbo)
+ motor->speed(mspeed);
+ if(!turbo)
+ motor->speed(mspeed/1.25);
+ }
+ else
+ motor->speed(0);
+}
+}
+void btMotorUpdate(Motor* motor) {
+
+ char PlusMinus = BT.getc();
+
+ if(PlusMinus == '-'){
+ char n1 = BT.getc();
+ setMotorSpeed(motor, -(getSpeed(n1)));
+
+ } else {
+ setMotorSpeed(motor, getSpeed(PlusMinus));
+
+ }
+}
+
+void btSerialInterrupt() {
+
+ char LRABYX = BT.getc();
+
+ if(LRABYX == 'L'){
+ btMotorUpdate(&lm);
+ }
+ if(LRABYX == 'R') {
+ btMotorUpdate(&rm);
+ }
+ if(LRABYX == 'A') {
+ turbo = true;
+ }
+ if(LRABYX == 'B') {
+ turbo = false;
+ }
+
+}
+
+
+int main() {
+
+ DevI2C *device_i2c = new DevI2C(VL53L0_I2C_SDA, VL53L0_I2C_SCL);
+ board = XNucleo53L0A1::instance(device_i2c, A2, D8, D2);
+ uint32_t distance;
+ shdn = 0; //must reset sensor for an mbed reset to work
+ wait(0.1);
+ shdn = 1;
+ wait(0.1);
+
+ /* init the 53L0A1 board with default values */
+ int status = board->init_board();
+ while (status) {
+ status = board->init_board();
+ }
+
+ BT.attach(&btSerialInterrupt);
+ lm.speed(0);
+ rm.speed(0);
+ led.write(0);
+ spkrenable = 0;
+
+
+ while (1) {
+ status = board->sensor_centre->get_distance(&distance);
+ if (status == VL53L0X_ERROR_NONE) {
+ pc.printf("%d\n\r",distance);
+
+ if (distance < 300) { // Distance might need to be adjusted
+ stopMotor = true;
+ led.write(15*!led.read());
+ spkrenable = 1;
+ spkr = .5;
+ wait(.1);
+ spkr = 0;
+ spkrenable = 0;
+ }
+ else{
+ stopMotor = false;
+
+ led.write(0);
+ }
+
+
+ // Any Lighting or Sound Effects for Crash Detection
+
+ }
+ }
+
+}
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