![](/media/cache/profiles/6f0cdeedf664c24860cba8842e94b300.50x50_q85.jpg)
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.
Revision 0:1b4c3bbaf102, committed 2013-03-12
- Comitter:
- mariob
- Date:
- Tue Mar 12 07:39:13 2013 +0000
- Commit message:
- This project aims at hacking a remote controlled car by replacing the tx/rx and navigation systems. This project implements the pc side.
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/joystick/joystick.cpp Tue Mar 12 07:39:13 2013 +0000 @@ -0,0 +1,65 @@ +#include "joystick.hpp" + + +void Joystick::tuneChannel (int nOfSamples, int channel) +{ + if (channel<0 || channel>3) + return; + ranges[channel].maxV = std::numeric_limits<float>::min(); + ranges[channel].minV = std::numeric_limits<float>::max(); + for (int i=0; i<nOfSamples; i++) { + float val = channels[channel]->read(); + if (val>ranges[channel].maxV) + ranges[channel].maxV = val; + else if (val<ranges[channel].minV) + ranges[channel].minV = val; + wait(0.1); + } +} + +void Joystick::tuneCentring (int nOfSamples, int channel) +{ + if (channel<0 || channel>3) + return; + ranges[channel].center = 0.0; + for (int i=0; i<nOfSamples; i++) { + float val = channels[channel]->read(); + ranges[channel].center += val; + wait(0.1); + } + ranges[channel].center /= nOfSamples; +} + + + +float Joystick::read(int channel) +{ + if (channel<0 || channel>3) + return std::numeric_limits<float>::min(); + mutexes[channel].lock(); + float val = values[channel]; + mutexes[channel].unlock(); + return val; +} + + +void Joystick::update (int channel) +{ + mutexes[channel].lock(); + float val = channels[channel]->read(); + mutexes[channel].unlock(); + if (val>ranges[channel].center) + values[channel] = -(val-ranges[channel].center)/ + (ranges[channel].maxV-ranges[channel].center); + else + values[channel] = (ranges[channel].center-val)/ + (ranges[channel].center-ranges[channel].minV); +} + +void Joystick::update () +{ + update(JOYSTICK_SX_X); + update(JOYSTICK_SX_Y); + update(JOYSTICK_DX_X); + update(JOYSTICK_DX_Y); +}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/joystick/joystick.hpp Tue Mar 12 07:39:13 2013 +0000 @@ -0,0 +1,61 @@ +#ifndef __JOYSTICK_HPP__ +#define __JOYSTICK_HPP__ + +#include <limits> + +#include "mbed.h" +#include "rtos.h" + +#define JOYSTICK_SX_X 1 +#define JOYSTICK_SX_Y 0 +#define JOYSTICK_DX_X 2 +#define JOYSTICK_DX_Y 3 + +class Joystick +{ + + AnalogIn* channels[4]; + float values[4]; + Mutex mutexes[4]; + + struct RangeJoystichChannel { + float maxV; + float minV; + float center; + RangeJoystichChannel () { + maxV = std::numeric_limits<float>::min(); + minV = std::numeric_limits<float>::max(); + center = 0.0; + } + }; + + RangeJoystichChannel ranges[4]; + + void update(int channel); + +public: + + Joystick (PinName pinSX_X, PinName pinSX_Y, PinName pinDX_X, PinName pinDX_Y) { + channels[JOYSTICK_SX_X] = new AnalogIn(pinSX_X); + channels[JOYSTICK_SX_Y] = new AnalogIn(pinSX_Y); + channels[JOYSTICK_DX_X] = new AnalogIn(pinDX_X); + channels[JOYSTICK_DX_Y] = new AnalogIn(pinDX_Y); + } + + void tuneCentring (int nOfSamples, int channel); + void tuneChannel (int nOfSamples, int channel); + + void update(); + + float read(int channel); + + ~Joystick () { + delete channels[JOYSTICK_SX_X]; + delete channels[JOYSTICK_SX_Y]; + delete channels[JOYSTICK_DX_X]; + delete channels[JOYSTICK_DX_Y]; + } +}; + + +#endif //__JOYSTICK_HPP__
--- /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; +}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-rtos.lib Tue Mar 12 07:39:13 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed-rtos/#53e6cccd8782
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Mar 12 07:39:13 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 07:39:13 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mariob/code/ssWi/#b50c3b3b241c