main.cpp

00001 // Mbed 1 Robot, robot base sensors and bluetooth
00002 // serial port pins 9 and 10(tx rx) used to communicate with robot base
00003 #include "mbed.h"
00004 #include "m3pi.h"
00005 #include "string"
00006 #include <stdio.h>
00007 #include <stdlib.h>
00008 #include <iostream>
00009 //Serial pc(USBTX, USBRX); // for terminal diagnostics
00010 Serial device(p28, p27); // Bluetooth comms tx rx 
00011 Serial communicate(p13, p14); // to Mbed 2 tx rx
00012 m3pi m3pi;
00013 DigitalOut myled1(LED1);
00014 DigitalOut myled2(LED2);
00015 DigitalOut myled3(LED3);
00016 DigitalOut myled4(LED4);
00017 DigitalIn stopgo (p20); // from mbed2 sensor move forward or not something blocking (1=block)
00018 
00019 char letters[26] = {
00020     'a', 'b', 'c', 'd', 'e', 'f', 'g', 'h',
00021     'i', 'j', 'k', 'l', 'm', 'n', 'o', 'p',
00022     'r', 's', 't', 'u', 'v', 'w', 'x', 'y', 'z'
00023 };
00024 char receivedchar[10];
00025 
00026 
00027 void rxCallback() //interrupt from rx serial port
00028 {
00029     myled3=!myled3;
00030     receivedchar[0]=communicate.getc(); // put received character from mbed2 into array for later
00031  // pc.printf("%d ",receivedchar[0]);
00032     //m3pi.cls();
00033     m3pi.locate(0,0); // x then y co-ordinates on screen
00034     m3pi.printf("%d  ",receivedchar[0]);
00035     //wait (0.2);
00036 }
00037 
00038 void txCallback() //interrupt from tx serial port
00039 {
00040     myled4=!myled4;
00041 }
00042 
00043 int main()
00044 {
00045     int  cmd_option;
00046     char cmd_convert;
00047     // Display welcome message to the scripting
00048    // display_part("Init : ", "FIDO-Ed");
00049 
00050     // Configure device baud rates
00051     device.baud(115200); //Bluetooth
00052  //   pc.baud(115200); //for diagnostics pc
00053     communicate.baud(19200); //to mbed 2
00054     setbuf(stdin,NULL); //clear serial input buffer
00055     communicate.attach(&txCallback, Serial::TxIrq);
00056     communicate.attach(&rxCallback, Serial::RxIrq); //for serial interrupt callback function
00057     m3pi.cls(); 
00058     cmd_convert=0;
00059     
00060     // Global program variables
00061    bool nerror  = true;
00062 
00063     // Iterate while simulation is error free
00064     while(nerror) 
00065     {
00066          myled1=stopgo; // mbed2 says stop or go - 1/on =something blocking movement  
00067         // Check for readability of device
00068         if(device.readable()) 
00069            {
00070             // Display device recieved transactions
00071             // Fetch command and cast to char value
00072             cmd_option  = device.getc();
00073             cmd_convert = static_cast<char>(cmd_option);
00074              m3pi.locate(0,1);
00075              m3pi.printf("B%c %d", cmd_convert,cmd_option);
00076             // Hold for half a second
00077             wait(0.2);
00078             }
00079 
00080 if (cmd_convert !=0)
00081     {
00082      if(cmd_convert >=49 && cmd_convert <=53) // numbers 1 to 5 from mobile app, Movement
00083        {  
00084      // Determine action to be taken based on switching
00085         switch(cmd_convert) 
00086             {
00087          
00088              case '1': //Move Forward
00089                        if(!stopgo) //if nothing blocking way
00090                           {
00091                         //  while (!stopgo)
00092                         //     {
00093                              communicate.putc(49); //move forward - send 1 to mbed 2
00094                              cmd_convert=0;
00095                              m3pi.forward(0.25);
00096                              wait(1.1);
00097                              m3pi.stop();
00098                           //   }
00099                           }
00100                          else 
00101                           {    
00102                           communicate.putc(53); // dont move forward and send 5 to mbed 2
00103                           }    
00104                         m3pi.stop();
00105                         break;
00106 
00107                 case '2': //Turn Right
00108                        if(!stopgo) //if nothing blocking way
00109                           {
00110                          // while (!stopgo)
00111                          //       {
00112                                   communicate.putc(50);// turn right and send 2 to mbed2 
00113                                   cmd_convert=0;
00114                                   m3pi.right(0.25);
00115                                   wait(0.5);
00116                                   m3pi.stop();
00117                          //         }
00118                          }
00119                       else 
00120                          {
00121                          m3pi.stop();    
00122                          communicate.putc(53); // dont move forward and send 5 to mbed 2
00123                          }                  
00124                      break;
00125 
00126                 case '3': //Backwards - no movement
00127                          communicate.putc(51); // turn around and send 3 to mbed 2
00128                          cmd_convert=0;
00129           //             m3pi.right(0.5);
00130           //             wait(0.25);
00131           //             m3pi.stop();
00132                     break;
00133 
00134                   case '4': // Turn Left
00135                       if(!stopgo) //if nothing blocking way
00136                         {
00137                           // while (!stopgo)
00138                           //       {
00139                                  communicate.putc(52); //turn left and send 4 to mbed2
00140                                  cmd_convert=0;
00141                                  m3pi.left(0.25);
00142                                  wait(0.5);
00143                                    m3pi.stop();
00144                           //       }
00145                         }
00146                       else 
00147                          {
00148                          m3pi.stop();    
00149                          communicate.putc(53); // dont move forward and send 5 to mbed 2
00150                          }  
00151                       break;
00152                                             
00153       
00154         } // switch    
00155         }
00156         if(cmd_convert >=65 && cmd_convert <=122) // send any other valid command to mbed2
00157           {
00158             communicate.putc(cmd_convert); //send cmd_convert to mbed 2
00159             cmd_convert=0;
00160           }  //cmd_convert >=65
00161     } // if cmd_convert not 0
00162 }}