Nivedha Ravi
ECE 4180 Final Project, curiosity rover
Dependencies: mbed wave_player Servo Motor SDFileSystem LSM9DS1_Library_cal HC_SR04_Ultrasonic_Library
Revision 1:50d97a0b4c64, committed 2019-12-06
- Comitter:
- nivedharavi
- Date:
- Fri Dec 06 19:54:32 2019 +0000
- Parent:
- 0:7bbc230e00d6
- Commit message:
- ECE 4180 Final Project Minesweeper / Rover
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HC_SR04_Ultrasonic_Library.lib Fri Dec 06 19:54:32 2019 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/ejteb/code/HC_SR04_Ultrasonic_Library/#e0f9c9fb4cf3
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/LSM9DS1_Library_cal.lib Fri Dec 06 19:54:32 2019 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/4180_1/code/LSM9DS1_Library_cal/#36abf8e18ade
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SDFileSystem.lib Fri Dec 06 19:54:32 2019 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/SDFileSystem/#c8f66dc765d4
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Servo.lib Fri Dec 06 19:54:32 2019 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/simon/code/Servo/#36b69a7ced07
--- a/main.cpp Tue Nov 23 16:19:19 2010 +0000
+++ b/main.cpp Fri Dec 06 19:54:32 2019 +0000
@@ -2,12 +2,186 @@
#include "mbed.h"
#include "Motor.h"
+#include "LSM9DS1.h"
+#include "math.h"
+#define PI 3.14159
+#include "ultrasonic.h"
+#include "Servo.h"
+#include "SDFileSystem.h"
+#include "wave_player.h"
-Motor m(p23, p6, p5); // pwm, fwd, rev
+Servo myservo(p23);
+Motor m1(p22, p17, p15); // pwmA, fwd, rev, can brake
+Motor m2(p21,p20,p19); //pwmB, fwd, rev,brake
+Serial bluemod(p13,p14);
+DigitalOut myLed(LED1);
+Serial pc(USBTX, USBRX); // usb serial for debugging
+SDFileSystem sd(p5, p6, p7, p8, "sd"); //SD card
+AnalogOut DACout(p18);
+wave_player waver(&DACout);
+// SDO_XM and SDO_G are pulled up, so our addresses are:
+#define LSM9DS0_XM_ADDR 0x1D
+#define LSM9DS0_G_ADDR 0x6B // Would be 0x6A if SDO_G is LOW
+float mx;
+float my;
+float heading_val = 0.0;
+#define DECLINATION -4.94 // Declination (degrees) in Atlanta,GA.
+LSM9DS1 imu2(p28, p27, 0xD6, 0x3C);
+float p = 0;
+float calcHeading()
+{
+ mx = -mx;
+ float heading;
+ if (my == 0.0)
+ heading = (mx < 0.0) ? 180.0 : 0.0;
+ else
+ heading = atan2(mx, my)*360.0/(2.0*PI);
+ heading -= DECLINATION; //correct for geo location
+ if(heading>180.0) heading = heading - 360.0;
+ else if(heading<-180.0) heading = 360.0 + heading;
+ else if(heading<0.0) heading = 360.0 + heading;
+ return heading;
+}
+
+
+float updateHeading(){
+ imu2.readMag();
+ mx=imu2.mx;
+ my=imu2.my;
+ heading_val = calcHeading();
+ pc.printf("%2f\r\n",abs(heading_val));
+ return abs(heading_val);
+
+ }
+
+void playSounds(){
+ FILE *wave_file;
+ wave_file=fopen("/sd/blaster-firing.wav","r");
+ waver.play(wave_file);
+ fclose(wave_file);
+
+}
+
int main() {
- for (float s= -1.0; s < 1.0 ; s += 0.01) {
- m.speed(s);
- wait(0.02);
+ imu2.begin();
+ if (!imu2.begin()) {
+ pc.printf("Failed to communicate with LSM9DS1.\n");
}
-}
+ imu2.calibrate(1);
+ wait(2);
+ m1.speed(0.25);
+ m2.speed(-0.25);
+ imu2.calibrateMag(0);
+ m1.speed(0.0);
+ m2.speed(0.0);
+
+
+ while(1){
+ myLed = 0;
+ wait(0.2);
+ imu2.readMag();
+ mx=imu2.mx;
+ my=imu2.my;
+ heading_val = calcHeading();
+ heading_val = updateHeading();
+ myservo.calibrate();
+ if(bluemod.readable()){
+ float speed;
+ myLed = 1;
+ char bnum=0;
+ char bhit = 0;
+ if (bluemod.getc()=='!') {
+ if (bluemod.getc()=='B') { //button data
+ bnum = bluemod.getc(); //button number
+ bhit = bluemod.getc();
+ switch(bnum){
+ case '1': // move forward
+ if(bhit=='1'){
+ speed=0.3;
+ playSounds();
+ }
+ break;
+ case '2': // break
+ if(bhit=='1'){
+ speed=0;
+ }
+ break;
+ case '3': //reverse
+ if(bhit=='1'){
+ speed=-0.3;
+ }
+ break;
+ case '4': //raise flag
+ if(bhit=='1'){
+ playSounds(); //play sound before raising flag
+ myLed=1;
+ myservo.write(0);
+ wait(1);
+ myLed =0;
+ myservo.write(.05);
+ wait(2);
+ myLed = 1;
+ m1.speed(0);
+ m2.speed(0);
+ playSounds(); //play sound after flag is raised
+ }
+ break;
+ case '5': //north
+ if(bhit=='1'){
+ while(heading_val>5.0 && heading_val<355.0){
+ heading_val = updateHeading();
+ m1.speed(0.3);
+ m2.speed(-0.3);
+ }
+ playSounds();
+ m1.speed(0);
+ m2.speed(0);
+ }
+ break;
+ case '6': //south: 175->185
+ if(bhit=='1'){
+ while(!(heading_val<185.0 && heading_val>175.0)){
+ heading_val = updateHeading();
+ m1.speed(0.3);
+ m2.speed(-0.3);
+ }
+ playSounds();
+ m1.speed(0);
+ m2.speed(0);
+ }
+ break;
+ case '8': //east
+ if(bhit=='1'){
+ while(!(heading_val<95.0 && heading_val>85.0)){
+ heading_val = updateHeading();
+ m1.speed(0.3);
+ m2.speed(-0.3);
+ }
+ playSounds();
+ m1.speed(0);
+ m2.speed(0);
+ }
+ break;
+ case '7': //west
+ if(bhit=='1'){
+ while(!(heading_val<275.0 && heading_val>265.0)){
+ heading_val = updateHeading();
+ m1.speed(0.3);
+ m2.speed(-0.3);
+ }
+ playSounds();//play sound when direction is found
+ m1.speed(0);
+ m2.speed(0);
+ }
+ break;
+ default: break;
+ }//close case
+ } //close B
+ } //!
+ m1.speed(speed);
+ m2.speed(speed);
+ }//close readable
+ } // close while
+}//main
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/wave_player.lib Fri Dec 06 19:54:32 2019 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/sravet/code/wave_player/#acc3e18e77ad