Mukund Pandiri / Mbed 2 deprecated segway-selfBalancingRobot

segway_self balancing robot 4180 project

Dependencies:   mbed mbed-rtos LSM9DS1_Library

main.cpp@9:28821420f7a4, 2020-04-18 (annotated)

Committer:
lrucker7
Date:
Sat Apr 18 20:03:58 2020 +0000
Revision:
9:28821420f7a4
Parent:
8:2332c4a79276
Child:
10:aafadd98d91c
Child:
11:c669b4dc1f9f
Bluetooth initially working

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pandirimukund 0:49139eec4c55 1 #include "mbed.h"
pandirimukund 0:49139eec4c55 2
fmmgramacho 6:0bff4e260db2 3 DigitalOut myled(LED2);
pandirimukund 0:49139eec4c55 4
pandirimukund 7:8af26d50c006 5 Ticker bluetooth;
pandirimukund 7:8af26d50c006 6 Serial pc(USBTX, USBRX);
pandirimukund 7:8af26d50c006 7
pandirimukund 7:8af26d50c006 8
pandirimukund 7:8af26d50c006 9 //Control system variables
pandirimukund 7:8af26d50c006 10 float rp = 50;
pandirimukund 7:8af26d50c006 11 float rd = 51;
pandirimukund 7:8af26d50c006 12 float ri = 50;
pandirimukund 7:8af26d50c006 13 float desired_angle = 0;
pandirimukund 7:8af26d50c006 14 Serial blue(p28,p27);
pandirimukund 7:8af26d50c006 15
pandirimukund 7:8af26d50c006 16 void bluetooth_update() {
pandirimukund 7:8af26d50c006 17 char bnum=0;
pandirimukund 7:8af26d50c006 18 char bhit=0;
lrucker7 9:28821420f7a4 19
lrucker7 9:28821420f7a4 20 while (blue.getc()!='!') {
lrucker7 9:28821420f7a4 21
lrucker7 9:28821420f7a4 22 }
pandirimukund 7:8af26d50c006 23 if (blue.getc()=='B') { //button data packet
pandirimukund 7:8af26d50c006 24 bnum = blue.getc(); //button number
lrucker7 9:28821420f7a4 25 pc.printf("%d",bnum);
pandirimukund 7:8af26d50c006 26 bhit = blue.getc(); //1=hit, 0=release
pandirimukund 7:8af26d50c006 27 if (blue.getc()==char(~('!' + 'B' + bnum + bhit))) { //checksum OK?
pandirimukund 7:8af26d50c006 28 myled = bnum - '0'; //current button number will appear on LEDs
pandirimukund 7:8af26d50c006 29 switch (bnum) {
pandirimukund 7:8af26d50c006 30 case '1': //number button 1
pandirimukund 7:8af26d50c006 31 if (bhit=='1') {
pandirimukund 7:8af26d50c006 32 rd += 1;
pandirimukund 7:8af26d50c006 33 } else {
pandirimukund 7:8af26d50c006 34 //add release code here
pandirimukund 7:8af26d50c006 35 }
pandirimukund 7:8af26d50c006 36 break;
pandirimukund 7:8af26d50c006 37 case '2': //number button 2
pandirimukund 7:8af26d50c006 38 if (bhit=='1') {
pandirimukund 7:8af26d50c006 39 ri += 1;
pandirimukund 7:8af26d50c006 40 } else {
pandirimukund 7:8af26d50c006 41 //add release code here
pandirimukund 7:8af26d50c006 42 }
pandirimukund 7:8af26d50c006 43 break;
pandirimukund 7:8af26d50c006 44 case '3': //number button 3
pandirimukund 7:8af26d50c006 45 if (bhit=='1') {
pandirimukund 7:8af26d50c006 46 rd -= 1;
pandirimukund 7:8af26d50c006 47 } else {
pandirimukund 7:8af26d50c006 48 //add release code here
pandirimukund 7:8af26d50c006 49 }
pandirimukund 7:8af26d50c006 50 break;
pandirimukund 7:8af26d50c006 51 case '4': //number button 4
pandirimukund 7:8af26d50c006 52 if (bhit=='1') {
pandirimukund 7:8af26d50c006 53 ri -= 1;
pandirimukund 7:8af26d50c006 54 } else {
pandirimukund 7:8af26d50c006 55 //add release code here
pandirimukund 7:8af26d50c006 56 }
pandirimukund 7:8af26d50c006 57 break;
pandirimukund 7:8af26d50c006 58 case '5': //button 5 up arrow
pandirimukund 7:8af26d50c006 59 if (bhit=='1') {
pandirimukund 7:8af26d50c006 60 rp += 1;
pandirimukund 7:8af26d50c006 61 } else {
pandirimukund 7:8af26d50c006 62 //add release code here
pandirimukund 7:8af26d50c006 63 }
pandirimukund 7:8af26d50c006 64 break;
pandirimukund 7:8af26d50c006 65 case '6': //button 6 down arrow
pandirimukund 7:8af26d50c006 66 if (bhit=='1') {
pandirimukund 7:8af26d50c006 67 rp -= 1;
pandirimukund 7:8af26d50c006 68 } else {
pandirimukund 7:8af26d50c006 69 //add release code here
pandirimukund 7:8af26d50c006 70 }
pandirimukund 7:8af26d50c006 71 break;
pandirimukund 7:8af26d50c006 72 case '7': //button 7 left arrow
pandirimukund 7:8af26d50c006 73 if (bhit=='1') {
pandirimukund 7:8af26d50c006 74 desired_angle -= 1;
pandirimukund 7:8af26d50c006 75 } else {
pandirimukund 7:8af26d50c006 76 //add release code here
pandirimukund 7:8af26d50c006 77 }
pandirimukund 7:8af26d50c006 78 break;
pandirimukund 7:8af26d50c006 79 case '8': //button 8 right arrow
pandirimukund 7:8af26d50c006 80 if (bhit=='1') {
pandirimukund 7:8af26d50c006 81 desired_angle += 1;
pandirimukund 7:8af26d50c006 82 } else {
pandirimukund 7:8af26d50c006 83 //add release code here
pandirimukund 7:8af26d50c006 84 }
pandirimukund 7:8af26d50c006 85 break;
pandirimukund 7:8af26d50c006 86 default:
pandirimukund 7:8af26d50c006 87 break;
pandirimukund 7:8af26d50c006 88 }
pandirimukund 7:8af26d50c006 89 }
pandirimukund 7:8af26d50c006 90 }
lrucker7 9:28821420f7a4 91 //}
pandirimukund 0:49139eec4c55 92 }
pandirimukund 7:8af26d50c006 93
pandirimukund 7:8af26d50c006 94 int main() {
pandirimukund 7:8af26d50c006 95 pc.printf("this is running");
lrucker7 9:28821420f7a4 96 //bluetooth.attach(&bluetooth_update, 0.1);
pandirimukund 7:8af26d50c006 97 while(1) {
lrucker7 9:28821420f7a4 98 bluetooth_update();
lrucker7 9:28821420f7a4 99 pc.printf("rp: %f, rd: %f, ri: %f, desired_angle: %f\n", rp, rd, ri, desired_angle);
pandirimukund 8:2332c4a79276 100 wait(0.1);
pandirimukund 7:8af26d50c006 101 }
pandirimukund 7:8af26d50c006 102 }
pandirimukund 7:8af26d50c006 103