Tapton Dog
Tapton school eds robot project mbed2
Dependencies: SDFileSystem SRF05 mbed wave_player_appbd
Revision 0:5482b23752a8, committed 2017-03-14
- Comitter:
- matt8174
- Date:
- Tue Mar 14 13:46:35 2017 +0000
- Child:
- 1:fdf0c4de9039
- Commit message:
- Mbed2 Tapton school eds robot project
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SDFileSystem.lib Tue Mar 14 13:46:35 2017 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/SDFileSystem/#b1266513e24b
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SRF05.lib Tue Mar 14 13:46:35 2017 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/simon/code/SRF05/#e758665e072c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Mar 14 13:46:35 2017 +0000
@@ -0,0 +1,486 @@
+// 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
+
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Mar 14 13:46:35 2017 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/176b8275d35d \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/wave_player_appbd.lib Tue Mar 14 13:46:35 2017 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/mptapton/code/wave_player_appbd/#c056757cda3a