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

main.cpp

Committer:
mariob
Date:
2013-03-12
Revision:
0:97d3a2b0ff58

File content as of revision 0:97d3a2b0ff58:

#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);
//    }
}