NeerajRathi IUPUI/ECE / Mbed 2 deprecated ROBO_ARM_TX

This is a Transmitter Code. Design and development of a wireless Robotic Arm that mirrors the movement of a hand in the horizontal and vertical direction. For this purpose, we have used FRDMk64F on board accelerometer that collects raw motion in terms of horizontal and vertical axis, processes it and sends it to another FRDM K64F wirelessly. On the other side this FRDM K64F processes the received data and sends a command to servo motor that moves the arms in the direction such a that it imitates the user’s hand.

Dependencies:   DebounceIn FXOS8700Q mbed nRF24L01P

APPARATUS 1. Freescale development board – FRDM K64F 2. Servo Motors (3V to 6 V) DC 3. nRF24L01 – Wireless Trans-receiver 4. Gloves 5. USB cable 6. Gloves 7. Robotic arm MICROBOTLABS

main.cpp@0:c768464c8cbc, 2016-05-09 (annotated)

Committer:
nrrathi
Date:
Mon May 09 15:55:28 2016 +0000
Revision:
0:c768464c8cbc
A type of programmable mechanical arm, with similar functions to a human arm.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nrrathi 0:c768464c8cbc 1 #include "mbed.h"
nrrathi 0:c768464c8cbc 2 #include "nRF24L01P.h"
nrrathi 0:c768464c8cbc 3 #include "FXOS8700Q.h"
nrrathi 0:c768464c8cbc 4 #include "DebounceIn.h"
nrrathi 0:c768464c8cbc 5
nrrathi 0:c768464c8cbc 6 #define ACC_SAMPLE_SIZE 200
nrrathi 0:c768464c8cbc 7 #define ACC_X_GAIN 1
nrrathi 0:c768464c8cbc 8 #define ACC_Y_GAIN 2
nrrathi 0:c768464c8cbc 9 #define TRANSFER_SIZE 9
nrrathi 0:c768464c8cbc 10
nrrathi 0:c768464c8cbc 11 Serial pc(USBTX, USBRX); // tx, rx
nrrathi 0:c768464c8cbc 12
nrrathi 0:c768464c8cbc 13 nRF24L01P my_nrf24l01p(PTD6, PTD7, PTD5, PTD4, PTC12, PTC18); // mosi, miso, sck, csn, ce, irq
nrrathi 0:c768464c8cbc 14 FXOS8700Q_acc acc( PTE25, PTE24, FXOS8700CQ_SLAVE_ADDR1); // Proper Ports and I2C Address for K64F Freedom board
nrrathi 0:c768464c8cbc 15
nrrathi 0:c768464c8cbc 16 DigitalOut myled1(LED1);
nrrathi 0:c768464c8cbc 17 DigitalOut myled2(LED2);
nrrathi 0:c768464c8cbc 18 DigitalOut myled3(LED3);
nrrathi 0:c768464c8cbc 19 MotionSensorDataCounts acc_raw;
nrrathi 0:c768464c8cbc 20 int16_t acc_x, acc_y;
nrrathi 0:c768464c8cbc 21 DebounceIn cal_button(PTC6);
nrrathi 0:c768464c8cbc 22
nrrathi 0:c768464c8cbc 23 int main()
nrrathi 0:c768464c8cbc 24 {
nrrathi 0:c768464c8cbc 25
nrrathi 0:c768464c8cbc 26 char txData[TRANSFER_SIZE];
nrrathi 0:c768464c8cbc 27 int txDataCnt = 0;
nrrathi 0:c768464c8cbc 28
nrrathi 0:c768464c8cbc 29 int acc_x_array[ACC_SAMPLE_SIZE];
nrrathi 0:c768464c8cbc 30 int acc_y_array[ACC_SAMPLE_SIZE];
nrrathi 0:c768464c8cbc 31 int acc_sample_cnt = 0;
nrrathi 0:c768464c8cbc 32
nrrathi 0:c768464c8cbc 33 int acc_x_avg = 0;
nrrathi 0:c768464c8cbc 34 int acc_y_avg = 0;
nrrathi 0:c768464c8cbc 35
nrrathi 0:c768464c8cbc 36 int acc_x_cal = 0;
nrrathi 0:c768464c8cbc 37 int acc_y_cal = 0;
nrrathi 0:c768464c8cbc 38
nrrathi 0:c768464c8cbc 39 pc.baud(115200);
nrrathi 0:c768464c8cbc 40
nrrathi 0:c768464c8cbc 41 my_nrf24l01p.setTxAddress(0xDEADBEEF0F);
nrrathi 0:c768464c8cbc 42 my_nrf24l01p.powerUp();
nrrathi 0:c768464c8cbc 43 myled1 = 1;
nrrathi 0:c768464c8cbc 44 myled2 = 1;
nrrathi 0:c768464c8cbc 45
nrrathi 0:c768464c8cbc 46 pc.printf( "nRF24L01+ Frequency : %d MHz\r\n", my_nrf24l01p.getRfFrequency() );
nrrathi 0:c768464c8cbc 47 pc.printf( "nRF24L01+ Output power : %d dBm\r\n", my_nrf24l01p.getRfOutputPower() );
nrrathi 0:c768464c8cbc 48 pc.printf( "nRF24L01+ Data Rate : %d kbps\r\n", my_nrf24l01p.getAirDataRate() );
nrrathi 0:c768464c8cbc 49 pc.printf( "nRF24L01+ TX Address : 0x%010llX\r\n", my_nrf24l01p.getTxAddress() );
nrrathi 0:c768464c8cbc 50 pc.printf( "nRF24L01+ RX Address : 0x%010llX\r\n", my_nrf24l01p.getRxAddress() );
nrrathi 0:c768464c8cbc 51
nrrathi 0:c768464c8cbc 52 my_nrf24l01p.setTransferSize( TRANSFER_SIZE );
nrrathi 0:c768464c8cbc 53 my_nrf24l01p.enable();
nrrathi 0:c768464c8cbc 54
nrrathi 0:c768464c8cbc 55 acc.enable();
nrrathi 0:c768464c8cbc 56
nrrathi 0:c768464c8cbc 57 myled3 = 0;
nrrathi 0:c768464c8cbc 58
nrrathi 0:c768464c8cbc 59 for (int x=0; x<ACC_SAMPLE_SIZE; x++)
nrrathi 0:c768464c8cbc 60 {
nrrathi 0:c768464c8cbc 61 acc_x_array[x]=0;
nrrathi 0:c768464c8cbc 62 acc_y_array[x]=0;
nrrathi 0:c768464c8cbc 63 }
nrrathi 0:c768464c8cbc 64
nrrathi 0:c768464c8cbc 65 while (1)
nrrathi 0:c768464c8cbc 66 {
nrrathi 0:c768464c8cbc 67 acc.getAxis(acc_raw);
nrrathi 0:c768464c8cbc 68
nrrathi 0:c768464c8cbc 69 acc_x = acc_raw.x - acc_x_cal;
nrrathi 0:c768464c8cbc 70 acc_y = acc_raw.y - acc_y_cal;
nrrathi 0:c768464c8cbc 71
nrrathi 0:c768464c8cbc 72 acc_x_array[acc_sample_cnt]=(int)(acc_x>>2);
nrrathi 0:c768464c8cbc 73 acc_y_array[acc_sample_cnt]=(int)(acc_y>>2);
nrrathi 0:c768464c8cbc 74
nrrathi 0:c768464c8cbc 75 acc_sample_cnt++;
nrrathi 0:c768464c8cbc 76 if (acc_sample_cnt>=ACC_SAMPLE_SIZE) acc_sample_cnt = 0;
nrrathi 0:c768464c8cbc 77
nrrathi 0:c768464c8cbc 78 acc_x_avg=0;
nrrathi 0:c768464c8cbc 79 acc_y_avg=0;
nrrathi 0:c768464c8cbc 80 for (int x=0; x<ACC_SAMPLE_SIZE; x++)
nrrathi 0:c768464c8cbc 81 {
nrrathi 0:c768464c8cbc 82 acc_x_avg=acc_x_avg+acc_x_array[x];
nrrathi 0:c768464c8cbc 83 acc_y_avg=acc_y_avg+acc_y_array[x];
nrrathi 0:c768464c8cbc 84 }
nrrathi 0:c768464c8cbc 85 acc_x_avg = (int)(acc_x_avg/ACC_SAMPLE_SIZE);
nrrathi 0:c768464c8cbc 86 acc_y_avg = (int)(acc_y_avg/ACC_SAMPLE_SIZE);
nrrathi 0:c768464c8cbc 87
nrrathi 0:c768464c8cbc 88 pc.printf("%d (%d)\t%d (%d)\n\r",acc_x_avg,acc_raw.x,acc_y_avg,acc_raw.y);
nrrathi 0:c768464c8cbc 89
nrrathi 0:c768464c8cbc 90 txData[0] = (acc_x_avg) & 0xff;
nrrathi 0:c768464c8cbc 91 txData[1] = (acc_x_avg>>8) & 0xff;
nrrathi 0:c768464c8cbc 92 txData[2] = (acc_x_avg>>16) & 0xff;
nrrathi 0:c768464c8cbc 93 txData[3] = (acc_x_avg>>24) & 0xff;
nrrathi 0:c768464c8cbc 94
nrrathi 0:c768464c8cbc 95 txData[4] = (acc_y_avg) & 0xff;
nrrathi 0:c768464c8cbc 96 txData[5] = (acc_y_avg>>8) & 0xff;
nrrathi 0:c768464c8cbc 97 txData[6] = (acc_y_avg>>16) & 0xff;
nrrathi 0:c768464c8cbc 98 txData[7] = (acc_y_avg>>24) & 0xff;
nrrathi 0:c768464c8cbc 99
nrrathi 0:c768464c8cbc 100 my_nrf24l01p.write( NRF24L01P_PIPE_P0, txData, sizeof( txData ) );
nrrathi 0:c768464c8cbc 101 pc.printf("sent data to rx");
nrrathi 0:c768464c8cbc 102
nrrathi 0:c768464c8cbc 103 wait(0.001);
nrrathi 0:c768464c8cbc 104
nrrathi 0:c768464c8cbc 105 if (cal_button.read()==0)
nrrathi 0:c768464c8cbc 106 {
nrrathi 0:c768464c8cbc 107 myled2 = 0;
nrrathi 0:c768464c8cbc 108 myled3 = 1;
nrrathi 0:c768464c8cbc 109
nrrathi 0:c768464c8cbc 110 acc_x_avg=0;
nrrathi 0:c768464c8cbc 111 acc_y_avg=0;
nrrathi 0:c768464c8cbc 112 for (int x=0; x<ACC_SAMPLE_SIZE; x++)
nrrathi 0:c768464c8cbc 113 {
nrrathi 0:c768464c8cbc 114 acc.getAxis(acc_raw);
nrrathi 0:c768464c8cbc 115 acc_x_avg=acc_x_avg+acc_raw.x;
nrrathi 0:c768464c8cbc 116 acc_y_avg=acc_y_avg+acc_raw.y;
nrrathi 0:c768464c8cbc 117 wait(0.01);
nrrathi 0:c768464c8cbc 118 }
nrrathi 0:c768464c8cbc 119 acc_x_cal = (int)(acc_x_avg/ACC_SAMPLE_SIZE);
nrrathi 0:c768464c8cbc 120 acc_y_cal = (int)(acc_y_avg/ACC_SAMPLE_SIZE);
nrrathi 0:c768464c8cbc 121 myled2 = 1;
nrrathi 0:c768464c8cbc 122 myled3 = 0;
nrrathi 0:c768464c8cbc 123 }
nrrathi 0:c768464c8cbc 124
nrrathi 0:c768464c8cbc 125 }
nrrathi 0:c768464c8cbc 126 }