Mario Bambagini / Mbed 2 deprecated rover_car

This project aims at hacking a remote controlled car by replacing the tx/rx and navigation systems. This project implements the car side.

Dependencies:   mbed-rtos mbed ssWi

This project consists of a remote controller which pilots a car holding a video camera onboard. It is divided in two main parts:

  • user side: the microcontroller reads the user input from the joystick (four potentiometers), elaborates them and then sends those commands through the wireless connection (using a XBee module);
  • car side: the microcontroller receives the sent commands (using a XBee module), elaborates them and adjusts the main engine, the steering servomotor and the two servos which move the X-Y axis of the onboard video camera.

Here are a image of the hardware and a video I recorderd and edited. http://www.mario-bambagini.it/web/sections/software/car.jpg

Concerning the part related to the user side, the project is the following.

Import programrover_pc

This project aims at hacking a remote controlled car by replacing the tx/rx and navigation systems. This project implements the pc side.

Last commit 12 Mar 2013 by Mario Bambagini

The communication protocol I exploited to make the two parts communicate each other is ssWi.

Import libraryssWi

A simple wireless protocol to let my examples communicate each other. ssWi stands for Shared Slotted Wireless protocol

Last commit 21 Apr 2020 by Mario Bambagini

carDrivers/Servo/servo.cpp@0:97d3a2b0ff58, 2013-03-12 (annotated)

Committer:
mariob
Date:
Tue Mar 12 07:35:28 2013 +0000
Revision:
0:97d3a2b0ff58
rover project - car side; MB

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mariob 0:97d3a2b0ff58 1 #include "servo.hpp"
mariob 0:97d3a2b0ff58 2
mariob 0:97d3a2b0ff58 3
mariob 0:97d3a2b0ff58 4 Servo::Servo (PinName pwm, float min, float max, float center): _pwm(pwm)
mariob 0:97d3a2b0ff58 5 {
mariob 0:97d3a2b0ff58 6 _pwm.period(0.02);
mariob 0:97d3a2b0ff58 7 _min = min;
mariob 0:97d3a2b0ff58 8 _max = max;
mariob 0:97d3a2b0ff58 9 _center = center;
mariob 0:97d3a2b0ff58 10 *this = 0.5;
mariob 0:97d3a2b0ff58 11 }
mariob 0:97d3a2b0ff58 12
mariob 0:97d3a2b0ff58 13 Servo &Servo::operator= (float angle)
mariob 0:97d3a2b0ff58 14 {
mariob 0:97d3a2b0ff58 15 if (angle>1.0)
mariob 0:97d3a2b0ff58 16 angle = 1.0;
mariob 0:97d3a2b0ff58 17 else
mariob 0:97d3a2b0ff58 18 if (angle<-1.0)
mariob 0:97d3a2b0ff58 19 angle = -1.0;
mariob 0:97d3a2b0ff58 20 _pwm.pulsewidth(_center+((_max-_min)*(angle/2.0)));
mariob 0:97d3a2b0ff58 21 return *this;
mariob 0:97d3a2b0ff58 22 }
mariob 0:97d3a2b0ff58 23
mariob 0:97d3a2b0ff58 24 Servo::operator float()
mariob 0:97d3a2b0ff58 25 {
mariob 0:97d3a2b0ff58 26 return _pwm.read();
mariob 0:97d3a2b0ff58 27 }