Tapton Dog
/
mbed1movement_MPtest5
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Revision 0:0c9486499a97, committed 2017-03-14
- Comitter:
- matt8174
- Date:
- Tue Mar 14 13:42:23 2017 +0000
- Commit message:
- mbed1 Tapton school eds robot project
Changed in this revision
diff -r 000000000000 -r 0c9486499a97 m3pi.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/m3pi.lib Tue Mar 14 13:42:23 2017 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/chris/code/m3pi/#4b7d6ea9b35b
diff -r 000000000000 -r 0c9486499a97 main.cpp
--- /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
+}}
\ No newline at end of file
diff -r 000000000000 -r 0c9486499a97 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Mar 14 13:42:23 2017 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/176b8275d35d \ No newline at end of file