Diff: main.cpp

Revision:

0:0c9486499a97

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Mar 14 13:42:23 2017 +0000
@@ -0,0 +1,162 @@
+// Mbed 1 Robot, robot base sensors and bluetooth
+// serial port pins 9 and 10(tx rx) used to communicate with robot base
+#include "mbed.h"
+#include "m3pi.h"
+#include "string"
+#include <stdio.h>
+#include <stdlib.h>
+#include <iostream>
+//Serial pc(USBTX, USBRX); // for terminal diagnostics
+Serial device(p28, p27); // Bluetooth comms tx rx 
+Serial communicate(p13, p14); // to Mbed 2 tx rx
+m3pi m3pi;
+DigitalOut myled1(LED1);
+DigitalOut myled2(LED2);
+DigitalOut myled3(LED3);
+DigitalOut myled4(LED4);
+DigitalIn stopgo (p20); // from mbed2 sensor move forward or not something blocking (1=block)
+
+char letters[26] = {
+    'a', 'b', 'c', 'd', 'e', 'f', 'g', 'h',
+    'i', 'j', 'k', 'l', 'm', 'n', 'o', 'p',
+    'r', 's', 't', 'u', 'v', 'w', 'x', 'y', 'z'
+};
+char receivedchar[10];
+
+
+void rxCallback() //interrupt from rx serial port
+{
+    myled3=!myled3;
+    receivedchar[0]=communicate.getc(); // put received character from mbed2 into array for later
+ // pc.printf("%d ",receivedchar[0]);
+    //m3pi.cls();
+    m3pi.locate(0,0); // x then y co-ordinates on screen
+    m3pi.printf("%d  ",receivedchar[0]);
+    //wait (0.2);
+}
+
+void txCallback() //interrupt from tx serial port
+{
+    myled4=!myled4;
+}
+
+int main()
+{
+    int  cmd_option;
+    char cmd_convert;
+    // Display welcome message to the scripting
+   // display_part("Init : ", "FIDO-Ed");
+
+    // Configure device baud rates
+    device.baud(115200); //Bluetooth
+ //   pc.baud(115200); //for diagnostics pc
+    communicate.baud(19200); //to mbed 2
+    setbuf(stdin,NULL); //clear serial input buffer
+    communicate.attach(&txCallback, Serial::TxIrq);
+    communicate.attach(&rxCallback, Serial::RxIrq); //for serial interrupt callback function
+    m3pi.cls(); 
+    cmd_convert=0;
+    
+    // Global program variables
+   bool nerror  = true;
+
+    // Iterate while simulation is error free
+    while(nerror) 
+    {
+         myled1=stopgo; // mbed2 says stop or go - 1/on =something blocking movement  
+        // Check for readability of device
+        if(device.readable()) 
+           {
+            // Display device recieved transactions
+            // Fetch command and cast to char value
+            cmd_option  = device.getc();
+            cmd_convert = static_cast<char>(cmd_option);
+             m3pi.locate(0,1);
+             m3pi.printf("B%c %d", cmd_convert,cmd_option);
+            // Hold for half a second
+            wait(0.2);
+            }
+
+if (cmd_convert !=0)
+    {
+     if(cmd_convert >=49 && cmd_convert <=53) // numbers 1 to 5 from mobile app, Movement
+       {  
+     // Determine action to be taken based on switching
+        switch(cmd_convert) 
+            {
+         
+             case '1': //Move Forward
+                       if(!stopgo) //if nothing blocking way
+                          {
+                        //  while (!stopgo)
+                        //     {
+                             communicate.putc(49); //move forward - send 1 to mbed 2
+                             cmd_convert=0;
+                             m3pi.forward(0.25);
+                             wait(1.1);
+                             m3pi.stop();
+                          //   }
+                          }
+                         else 
+                          {    
+                          communicate.putc(53); // dont move forward and send 5 to mbed 2
+                          }    
+                        m3pi.stop();
+                        break;
+
+                case '2': //Turn Right
+                       if(!stopgo) //if nothing blocking way
+                          {
+                         // while (!stopgo)
+                         //       {
+                                  communicate.putc(50);// turn right and send 2 to mbed2 
+                                  cmd_convert=0;
+                                  m3pi.right(0.25);
+                                  wait(0.5);
+                                  m3pi.stop();
+                         //         }
+                         }
+                      else 
+                         {
+                         m3pi.stop();    
+                         communicate.putc(53); // dont move forward and send 5 to mbed 2
+                         }                  
+                     break;
+
+                case '3': //Backwards - no movement
+                         communicate.putc(51); // turn around and send 3 to mbed 2
+                         cmd_convert=0;
+          //             m3pi.right(0.5);
+          //             wait(0.25);
+          //             m3pi.stop();
+                    break;
+
+                  case '4': // Turn Left
+                      if(!stopgo) //if nothing blocking way
+                        {
+                          // while (!stopgo)
+                          //       {
+                                 communicate.putc(52); //turn left and send 4 to mbed2
+                                 cmd_convert=0;
+                                 m3pi.left(0.25);
+                                 wait(0.5);
+                                   m3pi.stop();
+                          //       }
+                        }
+                      else 
+                         {
+                         m3pi.stop();    
+                         communicate.putc(53); // dont move forward and send 5 to mbed 2
+                         }  
+                      break;
+                                            
+      
+        } // switch    
+        }
+        if(cmd_convert >=65 && cmd_convert <=122) // send any other valid command to mbed2
+          {
+            communicate.putc(cmd_convert); //send cmd_convert to mbed 2
+            cmd_convert=0;
+          }  //cmd_convert >=65
+    } // if cmd_convert not 0
+}}
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