Narendra Joshi / Mbed 2 deprecated robots

We wrote this for controlling our bots in a game designed for the ARM design challenge

Dependencies:   Motor Robo mbed

main.cpp@0:2f73cbc3f754, 2013-10-27 (annotated)

Committer:
narendraj9
Date:
Sun Oct 27 09:19:15 2013 +0000
Revision:
0:2f73cbc3f754
initial commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
narendraj9 0:2f73cbc3f754 1 #include "mbed.h"
narendraj9 0:2f73cbc3f754 2 #include "Robo.h"
narendraj9 0:2f73cbc3f754 3
narendraj9 0:2f73cbc3f754 4
narendraj9 0:2f73cbc3f754 5 // robot object
narendraj9 0:2f73cbc3f754 6 Robo roger(p20, p19, p18,
narendraj9 0:2f73cbc3f754 7 p21, p22, p23,
narendraj9 0:2f73cbc3f754 8 p24, p25, p27, p28, p29, p30);
narendraj9 0:2f73cbc3f754 9
narendraj9 0:2f73cbc3f754 10 DigitalOut myled(LED2);
narendraj9 0:2f73cbc3f754 11 DigitalOut left(LED3); // status left LED
narendraj9 0:2f73cbc3f754 12 DigitalOut right(LED4); // status right LED
narendraj9 0:2f73cbc3f754 13
narendraj9 0:2f73cbc3f754 14 // a buzzer when a life decreses
narendraj9 0:2f73cbc3f754 15 DigitalOut buzzer(p7);
narendraj9 0:2f73cbc3f754 16
narendraj9 0:2f73cbc3f754 17 //the rf receiver Serial object
narendraj9 0:2f73cbc3f754 18 Serial rx(p9, p10);
narendraj9 0:2f73cbc3f754 19
narendraj9 0:2f73cbc3f754 20 //a rise on this pin reduces a life of the robot
narendraj9 0:2f73cbc3f754 21 InterruptIn heart(p6);
narendraj9 0:2f73cbc3f754 22
narendraj9 0:2f73cbc3f754 23 /* a wrapper function for roger.devLives
narendraj9 0:2f73cbc3f754 24 * which can be passed as argument to some other funtion
narendraj9 0:2f73cbc3f754 25 */
narendraj9 0:2f73cbc3f754 26 void decRoboLives() {
narendraj9 0:2f73cbc3f754 27 roger.decLives();
narendraj9 0:2f73cbc3f754 28 buzzer = 0;
narendraj9 0:2f73cbc3f754 29 }
narendraj9 0:2f73cbc3f754 30
narendraj9 0:2f73cbc3f754 31 int main() {
narendraj9 0:2f73cbc3f754 32 char command = 'S';
narendraj9 0:2f73cbc3f754 33 rx.baud(2400);
narendraj9 0:2f73cbc3f754 34 myled = 1; // test led. test: program loaded successfully
narendraj9 0:2f73cbc3f754 35 heart.rise(decRoboLives);
narendraj9 0:2f73cbc3f754 36
narendraj9 0:2f73cbc3f754 37 /* main while loop
narendraj9 0:2f73cbc3f754 38 * 1. wait for instructions
narendraj9 0:2f73cbc3f754 39 * 1. read instruction
narendraj9 0:2f73cbc3f754 40 * 2. do the required action
narendraj9 0:2f73cbc3f754 41 * 3. empty the rx object by reading further
narendraj9 0:2f73cbc3f754 42 * 4. go to 1
narendraj9 0:2f73cbc3f754 43 * we introduced redundancy in sending the instructions so as to make
narendraj9 0:2f73cbc3f754 44 * sure they really end up being received by the robots. that's the raison d'etre
narendraj9 0:2f73cbc3f754 45 * for step 3.
narendraj9 0:2f73cbc3f754 46 */
narendraj9 0:2f73cbc3f754 47 while(1) {
narendraj9 0:2f73cbc3f754 48 if (rx.readable()) {
narendraj9 0:2f73cbc3f754 49 command = rx.getc();
narendraj9 0:2f73cbc3f754 50 switch(command) {
narendraj9 0:2f73cbc3f754 51 case 'L' :
narendraj9 0:2f73cbc3f754 52 left = 1;
narendraj9 0:2f73cbc3f754 53 right = 0;
narendraj9 0:2f73cbc3f754 54 roger.goLeft();
narendraj9 0:2f73cbc3f754 55 break;
narendraj9 0:2f73cbc3f754 56 case 'R':
narendraj9 0:2f73cbc3f754 57 right = 1;
narendraj9 0:2f73cbc3f754 58 left = 0;
narendraj9 0:2f73cbc3f754 59 roger.moveRight();
narendraj9 0:2f73cbc3f754 60 break;
narendraj9 0:2f73cbc3f754 61 case 'M':
narendraj9 0:2f73cbc3f754 62 roger.goAhead();
narendraj9 0:2f73cbc3f754 63 break;
narendraj9 0:2f73cbc3f754 64 case 'B':
narendraj9 0:2f73cbc3f754 65 roger.moveBack();
narendraj9 0:2f73cbc3f754 66 break;
narendraj9 0:2f73cbc3f754 67 case 'S':
narendraj9 0:2f73cbc3f754 68 roger.stop();
narendraj9 0:2f73cbc3f754 69 break;
narendraj9 0:2f73cbc3f754 70 case 'D':
narendraj9 0:2f73cbc3f754 71 roger.printlcd("Hi");
narendraj9 0:2f73cbc3f754 72 wait(1);
narendraj9 0:2f73cbc3f754 73 roger.goLeft();
narendraj9 0:2f73cbc3f754 74 roger.moveRight();
narendraj9 0:2f73cbc3f754 75 roger.goLeft();
narendraj9 0:2f73cbc3f754 76 roger.moveRight();
narendraj9 0:2f73cbc3f754 77 roger.goAhead();
narendraj9 0:2f73cbc3f754 78 wait(1);
narendraj9 0:2f73cbc3f754 79 roger.moveBack();
narendraj9 0:2f73cbc3f754 80 wait(1);
narendraj9 0:2f73cbc3f754 81 roger.stop();
narendraj9 0:2f73cbc3f754 82 default:
narendraj9 0:2f73cbc3f754 83 roger.printlcd("Waiting... ");
narendraj9 0:2f73cbc3f754 84 break;
narendraj9 0:2f73cbc3f754 85
narendraj9 0:2f73cbc3f754 86 }
narendraj9 0:2f73cbc3f754 87 while (rx.readable())
narendraj9 0:2f73cbc3f754 88 command = rx.getc();
narendraj9 0:2f73cbc3f754 89 }
narendraj9 0:2f73cbc3f754 90 }
narendraj9 0:2f73cbc3f754 91 }