Tapton Dog / Mbed 2 deprecated mbed1movement_MPtest5

mbed1 Tapton school eds robot project

Dependencies:   m3pi mbed

main.cpp@0:0c9486499a97, 2017-03-14 (annotated)

Committer:
matt8174
Date:
Tue Mar 14 13:42:23 2017 +0000
Revision:
0:0c9486499a97
mbed1 Tapton school eds robot project

Who changed what in which revision?

UserRevisionLine numberNew contents of line
matt8174 0:0c9486499a97 1 // Mbed 1 Robot, robot base sensors and bluetooth
matt8174 0:0c9486499a97 2 // serial port pins 9 and 10(tx rx) used to communicate with robot base
matt8174 0:0c9486499a97 3 #include "mbed.h"
matt8174 0:0c9486499a97 4 #include "m3pi.h"
matt8174 0:0c9486499a97 5 #include "string"
matt8174 0:0c9486499a97 6 #include <stdio.h>
matt8174 0:0c9486499a97 7 #include <stdlib.h>
matt8174 0:0c9486499a97 8 #include <iostream>
matt8174 0:0c9486499a97 9 //Serial pc(USBTX, USBRX); // for terminal diagnostics
matt8174 0:0c9486499a97 10 Serial device(p28, p27); // Bluetooth comms tx rx
matt8174 0:0c9486499a97 11 Serial communicate(p13, p14); // to Mbed 2 tx rx
matt8174 0:0c9486499a97 12 m3pi m3pi;
matt8174 0:0c9486499a97 13 DigitalOut myled1(LED1);
matt8174 0:0c9486499a97 14 DigitalOut myled2(LED2);
matt8174 0:0c9486499a97 15 DigitalOut myled3(LED3);
matt8174 0:0c9486499a97 16 DigitalOut myled4(LED4);
matt8174 0:0c9486499a97 17 DigitalIn stopgo (p20); // from mbed2 sensor move forward or not something blocking (1=block)
matt8174 0:0c9486499a97 18
matt8174 0:0c9486499a97 19 char letters[26] = {
matt8174 0:0c9486499a97 20 'a', 'b', 'c', 'd', 'e', 'f', 'g', 'h',
matt8174 0:0c9486499a97 21 'i', 'j', 'k', 'l', 'm', 'n', 'o', 'p',
matt8174 0:0c9486499a97 22 'r', 's', 't', 'u', 'v', 'w', 'x', 'y', 'z'
matt8174 0:0c9486499a97 23 };
matt8174 0:0c9486499a97 24 char receivedchar[10];
matt8174 0:0c9486499a97 25
matt8174 0:0c9486499a97 26
matt8174 0:0c9486499a97 27 void rxCallback() //interrupt from rx serial port
matt8174 0:0c9486499a97 28 {
matt8174 0:0c9486499a97 29 myled3=!myled3;
matt8174 0:0c9486499a97 30 receivedchar[0]=communicate.getc(); // put received character from mbed2 into array for later
matt8174 0:0c9486499a97 31 // pc.printf("%d ",receivedchar[0]);
matt8174 0:0c9486499a97 32 //m3pi.cls();
matt8174 0:0c9486499a97 33 m3pi.locate(0,0); // x then y co-ordinates on screen
matt8174 0:0c9486499a97 34 m3pi.printf("%d ",receivedchar[0]);
matt8174 0:0c9486499a97 35 //wait (0.2);
matt8174 0:0c9486499a97 36 }
matt8174 0:0c9486499a97 37
matt8174 0:0c9486499a97 38 void txCallback() //interrupt from tx serial port
matt8174 0:0c9486499a97 39 {
matt8174 0:0c9486499a97 40 myled4=!myled4;
matt8174 0:0c9486499a97 41 }
matt8174 0:0c9486499a97 42
matt8174 0:0c9486499a97 43 int main()
matt8174 0:0c9486499a97 44 {
matt8174 0:0c9486499a97 45 int cmd_option;
matt8174 0:0c9486499a97 46 char cmd_convert;
matt8174 0:0c9486499a97 47 // Display welcome message to the scripting
matt8174 0:0c9486499a97 48 // display_part("Init : ", "FIDO-Ed");
matt8174 0:0c9486499a97 49
matt8174 0:0c9486499a97 50 // Configure device baud rates
matt8174 0:0c9486499a97 51 device.baud(115200); //Bluetooth
matt8174 0:0c9486499a97 52 // pc.baud(115200); //for diagnostics pc
matt8174 0:0c9486499a97 53 communicate.baud(19200); //to mbed 2
matt8174 0:0c9486499a97 54 setbuf(stdin,NULL); //clear serial input buffer
matt8174 0:0c9486499a97 55 communicate.attach(&txCallback, Serial::TxIrq);
matt8174 0:0c9486499a97 56 communicate.attach(&rxCallback, Serial::RxIrq); //for serial interrupt callback function
matt8174 0:0c9486499a97 57 m3pi.cls();
matt8174 0:0c9486499a97 58 cmd_convert=0;
matt8174 0:0c9486499a97 59
matt8174 0:0c9486499a97 60 // Global program variables
matt8174 0:0c9486499a97 61 bool nerror = true;
matt8174 0:0c9486499a97 62
matt8174 0:0c9486499a97 63 // Iterate while simulation is error free
matt8174 0:0c9486499a97 64 while(nerror)
matt8174 0:0c9486499a97 65 {
matt8174 0:0c9486499a97 66 myled1=stopgo; // mbed2 says stop or go - 1/on =something blocking movement
matt8174 0:0c9486499a97 67 // Check for readability of device
matt8174 0:0c9486499a97 68 if(device.readable())
matt8174 0:0c9486499a97 69 {
matt8174 0:0c9486499a97 70 // Display device recieved transactions
matt8174 0:0c9486499a97 71 // Fetch command and cast to char value
matt8174 0:0c9486499a97 72 cmd_option = device.getc();
matt8174 0:0c9486499a97 73 cmd_convert = static_cast<char>(cmd_option);
matt8174 0:0c9486499a97 74 m3pi.locate(0,1);
matt8174 0:0c9486499a97 75 m3pi.printf("B%c %d", cmd_convert,cmd_option);
matt8174 0:0c9486499a97 76 // Hold for half a second
matt8174 0:0c9486499a97 77 wait(0.2);
matt8174 0:0c9486499a97 78 }
matt8174 0:0c9486499a97 79
matt8174 0:0c9486499a97 80 if (cmd_convert !=0)
matt8174 0:0c9486499a97 81 {
matt8174 0:0c9486499a97 82 if(cmd_convert >=49 && cmd_convert <=53) // numbers 1 to 5 from mobile app, Movement
matt8174 0:0c9486499a97 83 {
matt8174 0:0c9486499a97 84 // Determine action to be taken based on switching
matt8174 0:0c9486499a97 85 switch(cmd_convert)
matt8174 0:0c9486499a97 86 {
matt8174 0:0c9486499a97 87
matt8174 0:0c9486499a97 88 case '1': //Move Forward
matt8174 0:0c9486499a97 89 if(!stopgo) //if nothing blocking way
matt8174 0:0c9486499a97 90 {
matt8174 0:0c9486499a97 91 // while (!stopgo)
matt8174 0:0c9486499a97 92 // {
matt8174 0:0c9486499a97 93 communicate.putc(49); //move forward - send 1 to mbed 2
matt8174 0:0c9486499a97 94 cmd_convert=0;
matt8174 0:0c9486499a97 95 m3pi.forward(0.25);
matt8174 0:0c9486499a97 96 wait(1.1);
matt8174 0:0c9486499a97 97 m3pi.stop();
matt8174 0:0c9486499a97 98 // }
matt8174 0:0c9486499a97 99 }
matt8174 0:0c9486499a97 100 else
matt8174 0:0c9486499a97 101 {
matt8174 0:0c9486499a97 102 communicate.putc(53); // dont move forward and send 5 to mbed 2
matt8174 0:0c9486499a97 103 }
matt8174 0:0c9486499a97 104 m3pi.stop();
matt8174 0:0c9486499a97 105 break;
matt8174 0:0c9486499a97 106
matt8174 0:0c9486499a97 107 case '2': //Turn Right
matt8174 0:0c9486499a97 108 if(!stopgo) //if nothing blocking way
matt8174 0:0c9486499a97 109 {
matt8174 0:0c9486499a97 110 // while (!stopgo)
matt8174 0:0c9486499a97 111 // {
matt8174 0:0c9486499a97 112 communicate.putc(50);// turn right and send 2 to mbed2
matt8174 0:0c9486499a97 113 cmd_convert=0;
matt8174 0:0c9486499a97 114 m3pi.right(0.25);
matt8174 0:0c9486499a97 115 wait(0.5);
matt8174 0:0c9486499a97 116 m3pi.stop();
matt8174 0:0c9486499a97 117 // }
matt8174 0:0c9486499a97 118 }
matt8174 0:0c9486499a97 119 else
matt8174 0:0c9486499a97 120 {
matt8174 0:0c9486499a97 121 m3pi.stop();
matt8174 0:0c9486499a97 122 communicate.putc(53); // dont move forward and send 5 to mbed 2
matt8174 0:0c9486499a97 123 }
matt8174 0:0c9486499a97 124 break;
matt8174 0:0c9486499a97 125
matt8174 0:0c9486499a97 126 case '3': //Backwards - no movement
matt8174 0:0c9486499a97 127 communicate.putc(51); // turn around and send 3 to mbed 2
matt8174 0:0c9486499a97 128 cmd_convert=0;
matt8174 0:0c9486499a97 129 // m3pi.right(0.5);
matt8174 0:0c9486499a97 130 // wait(0.25);
matt8174 0:0c9486499a97 131 // m3pi.stop();
matt8174 0:0c9486499a97 132 break;
matt8174 0:0c9486499a97 133
matt8174 0:0c9486499a97 134 case '4': // Turn Left
matt8174 0:0c9486499a97 135 if(!stopgo) //if nothing blocking way
matt8174 0:0c9486499a97 136 {
matt8174 0:0c9486499a97 137 // while (!stopgo)
matt8174 0:0c9486499a97 138 // {
matt8174 0:0c9486499a97 139 communicate.putc(52); //turn left and send 4 to mbed2
matt8174 0:0c9486499a97 140 cmd_convert=0;
matt8174 0:0c9486499a97 141 m3pi.left(0.25);
matt8174 0:0c9486499a97 142 wait(0.5);
matt8174 0:0c9486499a97 143 m3pi.stop();
matt8174 0:0c9486499a97 144 // }
matt8174 0:0c9486499a97 145 }
matt8174 0:0c9486499a97 146 else
matt8174 0:0c9486499a97 147 {
matt8174 0:0c9486499a97 148 m3pi.stop();
matt8174 0:0c9486499a97 149 communicate.putc(53); // dont move forward and send 5 to mbed 2
matt8174 0:0c9486499a97 150 }
matt8174 0:0c9486499a97 151 break;
matt8174 0:0c9486499a97 152
matt8174 0:0c9486499a97 153
matt8174 0:0c9486499a97 154 } // switch
matt8174 0:0c9486499a97 155 }
matt8174 0:0c9486499a97 156 if(cmd_convert >=65 && cmd_convert <=122) // send any other valid command to mbed2
matt8174 0:0c9486499a97 157 {
matt8174 0:0c9486499a97 158 communicate.putc(cmd_convert); //send cmd_convert to mbed 2
matt8174 0:0c9486499a97 159 cmd_convert=0;
matt8174 0:0c9486499a97 160 } //cmd_convert >=65
matt8174 0:0c9486499a97 161 } // if cmd_convert not 0
matt8174 0:0c9486499a97 162 }}