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

--- /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();
+}

--- /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__

--- /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;
+}

--- /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__

--- /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);
+//    }
+}

--- /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

--- /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

--- /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