File content as of revision 1:fdf0c4de9039:

// Mbed 2 Additional sensors and Audio control

#include "mbed.h"
#include "SRF05.h"
#include "SDFileSystem.h"
#include "wave_player.h"
#include "string"
#include <stdio.h>
#include <stdlib.h>
#include <iostream>
//Serial pc(USBTX, USBRX); // for terminal diagnostics

Serial communicate(p28, p27);// serial comms to mbed 1 tx and rx
SRF05 srf(p9, p10);// serial comms to distance sensor tx, rx
SDFileSystem sd(p5, p6, p7, p8, "sd"); //SD card
AnalogOut DACout(p18); //to audio amplifier and speaker
PwmOut PWMout(p26);
wave_player waver(&DACout,&PWMout);
DigitalOut myled1(LED1);
DigitalOut myled2(LED2);
DigitalOut myled3(LED3);
DigitalOut myled4(LED4);
DigitalOut stopgo (p20); // sends signal to mbed1 to move forward or not

char receivedchar[10]; //array used for received characters from mbed1
int command_num;
int distcheck;
int b;

void rxCallback() //interrupt from rx serial port
{
    myled3=!myled3;
    receivedchar[0]=communicate.getc(); // put received character from mbed2 into array for later
    command_num=receivedchar[0];
 //   pc.printf("%d ",receivedchar[0]);
    
}

void txCallback() //interrupt from rx serial port
{
    myled4=!myled4;
 //   pc.printf("%d ",receivedchar[0]);
}


int main ()
{
    bool nerror = true;

    communicate.baud(19200); //to mbed 1
   // pc.baud(19200); //for diagnostics
    setbuf(stdin,NULL); //clear serial input buffer
      //for serial interrupt callback function 
    communicate.attach(&txCallback, Serial::TxIrq);
    communicate.attach(&rxCallback, Serial::RxIrq);
    FILE *wave_file;
    command_num=0;
    receivedchar[0]=0;
    distcheck=0;
    stopgo=0;
    char buffer [20];
    buffer[0]=0;
    myled1=0;
    
    //enter infinite loop
wait(1);
    while(nerror) 
    {
          
          distcheck = srf.read();
    //     pc.printf(" %d",distcheck);
         if (distcheck<=15) //too close
               {
                myled1=stopgo;
                stopgo=1; // not ok to move forward, raise p20
      //        pc.printf("%d NOT OK\n", distcheck);
                }         
        else {
            stopgo=0;
            myled1=stopgo;
            }
   //         pc.printf(" %d",distcheck); 

   //      if (command_num!=0)
   //        {   
           if(command_num >= 49 && command_num <= 53) // 1 to 5 (MOVEMENT)
             {
             switch(command_num) 
                  {
                  case '1':
                   //      sprintf(buffer, "/sd/voice%d.wav", command_num);
                    sprintf(buffer, "/sd/voice42.wav"); //Forward
                    wave_file=fopen(buffer ,"r");
                    waver.play(wave_file);
                    fclose(wave_file);
                    wait(0.1);
                    command_num=0;
                    break;
                    
                 case '2':
              //      sprintf(buffer, "/sd/voice%d.wav", command_num);
                    sprintf(buffer, "/sd/voice43.wav"); //Right
                    wave_file=fopen(buffer ,"r");
                    waver.play(wave_file);
                    fclose(wave_file);
                    wait(0.1);
                    command_num=0;
                    break;

               case '3':
              //      sprintf(buffer, "/sd/voice%d.wav", command_num);
                    sprintf(buffer, "/sd/voice44.wav"); //Reverse
                    wave_file=fopen(buffer ,"r");
                    waver.play(wave_file);
                    fclose(wave_file);
                    wait(0.1);
                    command_num=0;
                    break;

               case '4':
              //      sprintf(buffer, "/sd/voice%d.wav", command_num);
                    sprintf(buffer, "/sd/voice45.wav"); //Left
                    wave_file=fopen(buffer ,"r");
                    waver.play(wave_file);
                    fclose(wave_file);
                    wait(0.1);
                    command_num=0;
                    break;
                    
                case '5': // cant move forward
              //      sprintf(buffer, "/sd/voice%d.wav", command_num);
                    sprintf(buffer, "/sd/voice46.wav"); // Blocked
                    wave_file=fopen(buffer ,"r");
                    waver.play(wave_file);
                    fclose(wave_file);
                    wait(0.1);
                    command_num=0;
                    break;
                  }  
               }     
           if(command_num >= 97 && command_num <= 106) // a to j (NUMBERS)
             {
             switch(command_num) 
                  {                    
                    
                case 'a': 
                    sprintf(buffer,"/sd/voice41.wav"); // 0
                    wave_file=fopen(buffer ,"r");
                    waver.play(wave_file);
                    fclose(wave_file);
                    wait(0.1);
                    command_num=0;
                    break;
                    
                case 'b':
                    sprintf(buffer,"/sd/voice31.wav"); // 1
                    wave_file=fopen(buffer ,"r");
                    waver.play(wave_file);
                    fclose(wave_file);
                    wait(0.1);
                    command_num=0;
                    break;
                   
                case 'c': 
                    sprintf(buffer,"/sd/voice32.wav"); // 2
                    wave_file=fopen(buffer ,"r");
                    waver.play(wave_file);
                    fclose(wave_file);
                    wait(0.1);
                    command_num=0;
                    break;
                    
                case 'd':     
                    sprintf(buffer,"/sd/voice33.wav"); // 3
                    wave_file=fopen(buffer ,"r");
                    waver.play(wave_file);
                    fclose(wave_file);
                    wait(0.1);
                    command_num=0;
                    break;
                    
                case 'e': 
                    sprintf(buffer,"/sd/voice34.wav"); // 4
                    wave_file=fopen(buffer ,"r");
                    waver.play(wave_file);
                    fclose(wave_file);
                    wait(0.1);
                    command_num=0;
                    break;
                    
                case 'f': 
                    sprintf(buffer,"/sd/voice35.wav"); // 5
                    wave_file=fopen(buffer ,"r");
                    waver.play(wave_file);
                    fclose(wave_file);
                    wait(0.1);
                    command_num=0;
                    break;
                    
                case 'g': 
                    sprintf(buffer,"/sd/voice36.wav"); // 6
                    wave_file=fopen(buffer ,"r");
                    waver.play(wave_file);
                    fclose(wave_file);
                    wait(0.1);
                    command_num=0;
                    break;
                    
                case 'h': 
                    sprintf(buffer,"/sd/voice37.wav"); // 7
                    wave_file=fopen(buffer ,"r");
                    waver.play(wave_file);
                    fclose(wave_file);
                    wait(0.1);
                    command_num=0;
                    break;
                    
                case 'i': 
                    sprintf(buffer,"/sd/voice38.wav"); // 8
                    wave_file=fopen(buffer ,"r");
                    waver.play(wave_file);
                    fclose(wave_file);
                    wait(0.1);
                    command_num=0;
                    break;
                    
                case 'j': 
                    sprintf(buffer,"/sd/voice39.wav"); // 9
                    wave_file=fopen(buffer ,"r");
                    waver.play(wave_file);
                    fclose(wave_file);
                    wait(0.1);
                    command_num=0;
                    break;
                    
                    }
                 }   
                  
                  
           if(command_num >= 65 && command_num <= 90) // A to Z (LETTERS)
                {
                switch(command_num) 
                  {                    
                case 'A': 
                    sprintf(buffer,"/sd/voice5.wav"); // A
                    wave_file=fopen(buffer ,"r");
                    waver.play(wave_file);
                    fclose(wave_file);
                    wait(0.1);
                    command_num=0;
                    break;
                
                 case 'B': 
                    sprintf(buffer,"/sd/voice6.wav"); // B
                    wave_file=fopen(buffer ,"r");
                    waver.play(wave_file);
                    fclose(wave_file);
                    wait(0.1);
                    command_num=0;
                    break;
                
                 case 'C': 
                    sprintf(buffer,"/sd/voice7.wav"); // C
                    wave_file=fopen(buffer ,"r");
                    waver.play(wave_file);
                    fclose(wave_file);
                    wait(0.1);
                    command_num=0;
                    break;
                
                 case 'D': 
                    sprintf(buffer,"/sd/voice8.wav"); // D
                    wave_file=fopen(buffer ,"r");
                    waver.play(wave_file);
                    fclose(wave_file);
                    wait(0.1);
                    command_num=0;
                    break;
                
                 case 'E': 
                    sprintf(buffer,"/sd/voice9.wav"); // E
                    wave_file=fopen(buffer ,"r");
                    waver.play(wave_file);
                    fclose(wave_file);
                    wait(0.1);
                    command_num=0;
                    break;
                
                 case 'F': 
                    sprintf(buffer,"/sd/voice10.wav"); // F
                    wave_file=fopen(buffer ,"r");
                    waver.play(wave_file);
                    fclose(wave_file);
                    wait(0.1);
                    command_num=0;
                    break;
                
                 case 'G': 
                    sprintf(buffer,"/sd/voice11.wav"); // G
                    wave_file=fopen(buffer ,"r");
                    waver.play(wave_file);
                    fclose(wave_file);
                    wait(0.1);
                    command_num=0;
                    break;
                
                 case 'H': 
                    sprintf(buffer,"/sd/voice12.wav"); // H
                    wave_file=fopen(buffer ,"r");
                    waver.play(wave_file);
                    fclose(wave_file);
                    wait(0.1);
                    command_num=0;
                    break;
                
                 case 'I': 
                    sprintf(buffer,"/sd/voice13.wav"); // I
                    wave_file=fopen(buffer ,"r");
                    waver.play(wave_file);
                    fclose(wave_file);
                    wait(0.1);
                    command_num=0;
                    break;
                
                 case 'J': 
                    sprintf(buffer,"/sd/voice14.wav"); // J
                    wave_file=fopen(buffer ,"r");
                    waver.play(wave_file);
                    fclose(wave_file);
                    wait(0.1);
                    command_num=0;
                    break;
                
                 case 'K': 
                    sprintf(buffer,"/sd/voice15.wav"); // K
                    wave_file=fopen(buffer ,"r");
                    waver.play(wave_file);
                    fclose(wave_file);
                    wait(0.1);
                    command_num=0;
                    break;
                
                 case 'L': 
                    sprintf(buffer,"/sd/voice16.wav"); // L
                    wave_file=fopen(buffer ,"r");
                    waver.play(wave_file);
                    fclose(wave_file);
                    wait(0.1);
                    command_num=0;
                    break;
                
                 case 'M': 
                    sprintf(buffer,"/sd/voice17.wav"); // M
                    wave_file=fopen(buffer ,"r");
                    waver.play(wave_file);
                    fclose(wave_file);
                    wait(0.1);
                    command_num=0;
                    break;
                
                 case 'N': 
                    sprintf(buffer,"/sd/voice18.wav"); // N
                    wave_file=fopen(buffer ,"r");
                    waver.play(wave_file);
                    fclose(wave_file);
                    wait(0.1);
                    command_num=0;
                    break;
                
                 case 'O': 
                    sprintf(buffer,"/sd/voice19.wav"); // O
                    wave_file=fopen(buffer ,"r");
                    waver.play(wave_file);
                    fclose(wave_file);
                    wait(0.1);
                    command_num=0;
                    break;
                
                 case 'P': 
                    sprintf(buffer,"/sd/voice20.wav"); // P
                    wave_file=fopen(buffer ,"r");
                    waver.play(wave_file);
                    fclose(wave_file);
                    wait(0.1);
                    command_num=0;
                    break;
                
                
                 case 'Q': 
                    sprintf(buffer,"/sd/voice21.wav"); // Q
                    wave_file=fopen(buffer ,"r");
                    waver.play(wave_file);
                    fclose(wave_file);
                    wait(0.1);
                    command_num=0;
                    break;
                    
                 case 'R': 
                    sprintf(buffer,"/sd/voice22.wav"); // R
                    wave_file=fopen(buffer ,"r");
                    waver.play(wave_file);
                    fclose(wave_file);
                    wait(0.1);
                    command_num=0;
                    break;
                
                 case 'S': 
                    sprintf(buffer,"/sd/voice23.wav"); // S
                    wave_file=fopen(buffer ,"r");
                    waver.play(wave_file);
                    fclose(wave_file);
                    wait(0.1);
                    command_num=0;
                    break;
                
                 case 'T': 
                    sprintf(buffer,"/sd/voice24.wav"); // T
                    wave_file=fopen(buffer ,"r");
                    waver.play(wave_file);
                    fclose(wave_file);
                    wait(0.1);
                    command_num=0;
                    break;
                
                 case 'U': 
                    sprintf(buffer,"/sd/voice25.wav"); // U
                    wave_file=fopen(buffer ,"r");
                    waver.play(wave_file);
                    fclose(wave_file);
                    wait(0.1);
                    command_num=0;
                    break;
                
                case 'V': 
                    sprintf(buffer,"/sd/voice26.wav"); // V
                    wave_file=fopen(buffer ,"r");
                    waver.play(wave_file);
                    fclose(wave_file);
                    wait(0.1);
                    command_num=0;
                    break;
                
                 case 'W': 
                    sprintf(buffer,"/sd/voice27.wav"); // W
                    wave_file=fopen(buffer ,"r");
                    waver.play(wave_file);
                    fclose(wave_file);
                    wait(0.1);
                    command_num=0;
                    break;
                
                 case 'X': 
                    sprintf(buffer,"/sd/voice28.wav"); // X
                    wave_file=fopen(buffer ,"r");
                    waver.play(wave_file);
                    fclose(wave_file);
                    wait(0.1);
                    command_num=0;
                    break;
                
                 case 'Y': 
                    sprintf(buffer,"/sd/voice29.wav"); // Y
                    wave_file=fopen(buffer ,"r");
                    waver.play(wave_file);
                    fclose(wave_file);
                    wait(0.1);
                    command_num=0;
                    break;
                
                 case 'Z': 
                    sprintf(buffer,"/sd/voice30.wav"); // Z
                    wave_file=fopen(buffer ,"r");
                    waver.play(wave_file);
                    fclose(wave_file);
                    wait(0.1);
                    command_num=0;
                    break;
                
                       
                    } //switch
                } // 
          //  } // lower if command num 
     } //while 
}//main