Mario Bambagini
This project aims at hacking a remote controlled car by replacing the tx/rx and navigation systems. This project implements the pc side.
Dependencies: mbed-rtos mbed ssWi
For the related information, consult the wiki documentation at:
Import programrover_car
This project aims at hacking a remote controlled car by replacing the tx/rx and navigation systems. This project implements the car side.
Last commit 12 Mar 2013 by 
Mario Bambagini
Diff: main.cpp
- Revision:
- 0:1b4c3bbaf102
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Mar 12 07:39:13 2013 +0000
@@ -0,0 +1,109 @@
+#include "mbed.h"
+#include "rtos.h"
+
+#include "xbee.hpp"
+#include "ssWiSocket.hpp"
+#include "joystick.hpp"
+
+
+#define UPDATING_PERIOD_MS 200
+
+#define PORT_MOTOR 20
+#define PORT_SERVO 30
+#define PORT_SERVO_CAMERA_X 40
+#define PORT_SERVO_CAMERA_Y 50
+
+
+ssWiSocket* socket_motor;
+ssWiSocket* socket_servo;
+ssWiSocket* socket_camera_x;
+ssWiSocket* socket_camera_y;
+
+Joystick joystick(p15, p16, p17, p18);
+
+
+void tuneJoystickChannel (PinName pinLed, int joystickChannel);
+void updateFunction (const void* arg);
+
+
+int main ()
+{
+ //Communication link connection
+ XBeeModule xbee(p9, p10, 102, 14);
+ xbee.setDstAddress(XBeeBroadcastAddress());
+ xbee.init(5, -1);
+
+ //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: socket error\n\r");
+
+ //Joystick centering
+ joystick.tuneCentring(20, JOYSTICK_SX_X);
+ joystick.tuneCentring(20, JOYSTICK_SX_Y);
+ joystick.tuneCentring(20, JOYSTICK_DX_X);
+ joystick.tuneCentring(20, JOYSTICK_DX_Y);
+
+ //Joystick tuning
+ {
+ //tuneJoystickChannel(LED1, JOYSTICK_SX_X);
+ DigitalOut led1(LED1);
+ led1 = 1;
+ joystick.tuneChannel(100, JOYSTICK_SX_X);
+ led1 = 0;
+ }
+ {
+ //tuneJoystickChannel(LED2, JOYSTICK_SX_Y);
+ DigitalOut led2(LED2);
+ led2 = 1;
+ joystick.tuneChannel(100, JOYSTICK_SX_Y);
+ led2 = 0;
+ }
+ {
+ //tuneJoystickChannel(LED3, JOYSTICK_DX_X);
+ DigitalOut led3(LED3);
+ led3 = 1;
+ joystick.tuneChannel(100, JOYSTICK_DX_X);
+ led3 = 0;
+ }
+ {
+ //tuneJoystickChannel(LED4, JOYSTICK_DX_Y);
+ DigitalOut led4(LED4);
+ led4 = 1;
+ joystick.tuneChannel(100, JOYSTICK_DX_Y);
+ led4 = 0;
+ }
+ //Timer setting
+ RtosTimer timer (updateFunction, osTimerPeriodic, NULL);
+ timer.start(200);
+
+ //Infinite wait
+ Thread::wait(osWaitForever);
+}
+
+
+void updateFunction (const void* arg)
+{
+// while(1) {
+ joystick.update();
+ socket_motor->write(-joystick.read(JOYSTICK_SX_Y)*1000.0);
+ socket_servo->write(joystick.read(JOYSTICK_SX_X)*1000.0);
+ socket_camera_x->write(joystick.read(JOYSTICK_DX_X)*1000.0);
+ socket_camera_y->write(joystick.read(JOYSTICK_DX_Y)*1000.0);
+// printf("%f %f %f %f\n\r", joystick.read(JOYSTICK_SX_X), joystick.read(JOYSTICK_SX_Y), joystick.read(JOYSTICK_DX_X), joystick.read(JOYSTICK_DX_Y));
+// Thread::wait(UPDATING_PERIOD_MS);
+// }
+}
+
+
+void tuneJoystickChannel (PinName pinLed, int joystickChannel)
+{
+ DigitalOut led(pinLed);
+ led = 1;
+ joystick.tuneChannel(100, joystickChannel);
+ led = 0;
+}