Mukund Pandiri / Mbed 2 deprecated segway-selfBalancingRobot

segway_self balancing robot 4180 project

Dependencies:   mbed mbed-rtos LSM9DS1_Library

main.cpp@7:8af26d50c006, 2020-04-18 (annotated)

Committer:
pandirimukund
Date:
Sat Apr 18 19:37:27 2020 +0000
Revision:
7:8af26d50c006
Parent:
6:0bff4e260db2
Child:
8:2332c4a79276
added bluetooth;

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;
pandirimukund 7:8af26d50c006 19 if (blue.getc()=='!') {
pandirimukund 7:8af26d50c006 20 if (blue.getc()=='B') { //button data packet
pandirimukund 7:8af26d50c006 21 bnum = blue.getc(); //button number
pandirimukund 7:8af26d50c006 22 bhit = blue.getc(); //1=hit, 0=release
pandirimukund 7:8af26d50c006 23 if (blue.getc()==char(~('!' + 'B' + bnum + bhit))) { //checksum OK?
pandirimukund 7:8af26d50c006 24 myled = bnum - '0'; //current button number will appear on LEDs
pandirimukund 7:8af26d50c006 25 switch (bnum) {
pandirimukund 7:8af26d50c006 26 case '1': //number button 1
pandirimukund 7:8af26d50c006 27 if (bhit=='1') {
pandirimukund 7:8af26d50c006 28 rd += 1;
pandirimukund 7:8af26d50c006 29 } else {
pandirimukund 7:8af26d50c006 30 //add release code here
pandirimukund 7:8af26d50c006 31 }
pandirimukund 7:8af26d50c006 32 break;
pandirimukund 7:8af26d50c006 33 case '2': //number button 2
pandirimukund 7:8af26d50c006 34 if (bhit=='1') {
pandirimukund 7:8af26d50c006 35 ri += 1;
pandirimukund 7:8af26d50c006 36 } else {
pandirimukund 7:8af26d50c006 37 //add release code here
pandirimukund 7:8af26d50c006 38 }
pandirimukund 7:8af26d50c006 39 break;
pandirimukund 7:8af26d50c006 40 case '3': //number button 3
pandirimukund 7:8af26d50c006 41 if (bhit=='1') {
pandirimukund 7:8af26d50c006 42 rd -= 1;
pandirimukund 7:8af26d50c006 43 } else {
pandirimukund 7:8af26d50c006 44 //add release code here
pandirimukund 7:8af26d50c006 45 }
pandirimukund 7:8af26d50c006 46 break;
pandirimukund 7:8af26d50c006 47 case '4': //number button 4
pandirimukund 7:8af26d50c006 48 if (bhit=='1') {
pandirimukund 7:8af26d50c006 49 ri -= 1;
pandirimukund 7:8af26d50c006 50 } else {
pandirimukund 7:8af26d50c006 51 //add release code here
pandirimukund 7:8af26d50c006 52 }
pandirimukund 7:8af26d50c006 53 break;
pandirimukund 7:8af26d50c006 54 case '5': //button 5 up arrow
pandirimukund 7:8af26d50c006 55 if (bhit=='1') {
pandirimukund 7:8af26d50c006 56 rp += 1;
pandirimukund 7:8af26d50c006 57 } else {
pandirimukund 7:8af26d50c006 58 //add release code here
pandirimukund 7:8af26d50c006 59 }
pandirimukund 7:8af26d50c006 60 break;
pandirimukund 7:8af26d50c006 61 case '6': //button 6 down arrow
pandirimukund 7:8af26d50c006 62 if (bhit=='1') {
pandirimukund 7:8af26d50c006 63 rp -= 1;
pandirimukund 7:8af26d50c006 64 } else {
pandirimukund 7:8af26d50c006 65 //add release code here
pandirimukund 7:8af26d50c006 66 }
pandirimukund 7:8af26d50c006 67 break;
pandirimukund 7:8af26d50c006 68 case '7': //button 7 left arrow
pandirimukund 7:8af26d50c006 69 if (bhit=='1') {
pandirimukund 7:8af26d50c006 70 desired_angle -= 1;
pandirimukund 7:8af26d50c006 71 } else {
pandirimukund 7:8af26d50c006 72 //add release code here
pandirimukund 7:8af26d50c006 73 }
pandirimukund 7:8af26d50c006 74 break;
pandirimukund 7:8af26d50c006 75 case '8': //button 8 right arrow
pandirimukund 7:8af26d50c006 76 if (bhit=='1') {
pandirimukund 7:8af26d50c006 77 desired_angle += 1;
pandirimukund 7:8af26d50c006 78 } else {
pandirimukund 7:8af26d50c006 79 //add release code here
pandirimukund 7:8af26d50c006 80 }
pandirimukund 7:8af26d50c006 81 break;
pandirimukund 7:8af26d50c006 82 default:
pandirimukund 7:8af26d50c006 83 break;
pandirimukund 7:8af26d50c006 84 }
pandirimukund 7:8af26d50c006 85 }
pandirimukund 7:8af26d50c006 86 }
pandirimukund 0:49139eec4c55 87 }
pandirimukund 0:49139eec4c55 88 }
pandirimukund 7:8af26d50c006 89
pandirimukund 7:8af26d50c006 90 int main() {
pandirimukund 7:8af26d50c006 91 pc.printf("this is running");
pandirimukund 7:8af26d50c006 92 bluetooth.attach(&bluetooth_update, 0.1);
pandirimukund 7:8af26d50c006 93 while(1) {
pandirimukund 7:8af26d50c006 94 pc.printf("rp: %f, rd: %f, ri: %f, desired_angle: %f", rp, rd, ri, desired_angle);
pandirimukund 7:8af26d50c006 95 }
pandirimukund 7:8af26d50c006 96 }
pandirimukund 7:8af26d50c006 97