Mario Bambagini
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.
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
Revision 0:97d3a2b0ff58, committed 2013-03-12
- Comitter:
- mariob
- Date:
- Tue Mar 12 07:35:28 2013 +0000
- Commit message:
- rover project - car side; MB
Changed in this revision
diff -r 000000000000 -r 97d3a2b0ff58 carDrivers/Servo/servo.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/carDrivers/Servo/servo.cpp Tue Mar 12 07:35:28 2013 +0000
@@ -0,0 +1,27 @@
+#include "servo.hpp"
+
+
+Servo::Servo (PinName pwm, float min, float max, float center): _pwm(pwm)
+{
+ _pwm.period(0.02);
+ _min = min;
+ _max = max;
+ _center = center;
+ *this = 0.5;
+}
+
+Servo &Servo::operator= (float angle)
+{
+ if (angle>1.0)
+ angle = 1.0;
+ else
+ if (angle<-1.0)
+ angle = -1.0;
+ _pwm.pulsewidth(_center+((_max-_min)*(angle/2.0)));
+ return *this;
+}
+
+Servo::operator float()
+{
+ return _pwm.read();
+}
diff -r 000000000000 -r 97d3a2b0ff58 carDrivers/Servo/servo.hpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/carDrivers/Servo/servo.hpp Tue Mar 12 07:35:28 2013 +0000
@@ -0,0 +1,24 @@
+#ifndef __SERVO_HPP__
+#define __SERVO_HPP__
+
+
+#include "mbed.h"
+
+
+class Servo
+{
+ PwmOut _pwm;
+ float _min;
+ float _max;
+ float _center;
+
+public:
+ Servo(PinName pwm, float min=0.001, float max=0.002, float center=0.0015);
+
+ Servo& operator= (float speed);
+
+ operator float();
+
+};
+
+#endif //__SERVO_HPP__
diff -r 000000000000 -r 97d3a2b0ff58 carDrivers/car.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/carDrivers/car.cpp Tue Mar 12 07:35:28 2013 +0000
@@ -0,0 +1,30 @@
+#include "car.hpp"
+
+Car::Car ( PinName pinCamX, PinName pinCamY,
+ PinName pinSteering, PinName pinMotor):
+ cameraX(pinCamX), cameraY(pinCamY),
+ steering(pinSteering), motor(pinMotor)
+{
+ angleX = 0;
+ angleY = 0;
+ cameraX = 0.0;
+ cameraY = 0.0;
+ steering = 0.0;
+ motor = 0.0;
+}
+
+void Car::setSpeed (float s)
+{
+ motor = s;
+}
+
+void Car::setSteering (float angle)
+{
+ steering = -angle;
+}
+
+void Car::setCamera (float x, float y)
+{
+ cameraX = x;
+ cameraY = y;
+}
diff -r 000000000000 -r 97d3a2b0ff58 carDrivers/car.hpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/carDrivers/car.hpp Tue Mar 12 07:35:28 2013 +0000
@@ -0,0 +1,34 @@
+#ifndef __CAR_HPP__
+#define __CAR_HPP__
+
+
+#include "servo.hpp"
+
+
+#define CAMERA_ANGLE_STEP 0.1
+
+
+class Car
+{
+ //camera
+ int angleX;
+ int angleY;
+ Servo cameraX;
+ Servo cameraY;
+
+ //motor
+ Servo steering;
+ Servo motor;
+
+public:
+
+ Car (PinName pinCamX, PinName pinCamY, PinName pinSteering, PinName pinMotor);
+
+ void setSpeed (float s);
+ void setSteering (float angle);
+ void setCamera (float x, float y);
+
+};
+
+
+#endif //__CAR_HPP__
diff -r 000000000000 -r 97d3a2b0ff58 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Mar 12 07:35:28 2013 +0000
@@ -0,0 +1,67 @@
+#include "mbed.h"
+#include "rtos.h"
+
+#include "xbee.hpp"
+#include "ssWiSocket.hpp"
+#include "car.hpp"
+
+
+#define PORT_MOTOR 20
+#define PORT_SERVO 30
+#define PORT_SERVO_CAMERA_X 40
+#define PORT_SERVO_CAMERA_Y 50
+
+#define UPDATING_FUNCTION_MS 200
+
+
+ssWiSocket* socket_motor;
+ssWiSocket* socket_servo;
+ssWiSocket* socket_camera_x;
+ssWiSocket* socket_camera_y;
+
+Car car(p23, p24, p25, p26);
+
+
+void udateFunction (const void* arg);
+
+
+int main()
+{
+ //Communication link connection
+ XBeeModule xbee(p9, p10, 102, 14);
+ xbee.setDstAddress(XBeeBroadcastAddress());
+ xbee.init(-1, 5);
+
+ //Socket creation
+ socket_motor = ssWiSocket::createSocket(PORT_MOTOR);
+ socket_servo = ssWiSocket::createSocket(PORT_SERVO);
+ socket_camera_x = ssWiSocket::createSocket(PORT_SERVO_CAMERA_X);
+ socket_camera_y = ssWiSocket::createSocket(PORT_SERVO_CAMERA_Y);
+ if (socket_motor==NULL || socket_servo==NULL ||
+ socket_camera_x==NULL || socket_camera_y==NULL)
+ printf("Error: sockets\n\r");
+
+ //Timer setting
+ RtosTimer timer(udateFunction, osTimerPeriodic, NULL);
+ timer.start(200);
+
+ //Infinite wait
+ Thread::wait(osWaitForever);
+}
+
+
+void udateFunction (const void* arg)
+{
+ static DigitalOut led(LED1);
+ static int var = 0;
+// while(1) {
+ car.setSpeed((float)(socket_motor->read())/1000.0);
+ car.setSteering((float)(socket_servo->read())/1000.0);
+ float x = (float)socket_camera_x->read()/1000.0;
+ float y = (float)socket_camera_y->read()/1000.0;
+ car.setCamera(x, y);
+ led = var>=10?1:0;
+ var = var>=20?0:var+1;
+// Thread::wait(UPDATING_FUNCTION_MS);
+// }
+}
diff -r 000000000000 -r 97d3a2b0ff58 mbed-rtos.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-rtos.lib Tue Mar 12 07:35:28 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed-rtos/#9654a71f5a90
diff -r 000000000000 -r 97d3a2b0ff58 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Mar 12 07:35:28 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/cd19af002ccc \ No newline at end of file
diff -r 000000000000 -r 97d3a2b0ff58 ssWi.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ssWi.lib Tue Mar 12 07:35:28 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mariob/code/ssWi/#b50c3b3b241c