Pranav Marathe
A bluetooth controlled RC car with automatic braking and automatic headlights
Dependencies: HC_SR04_Ultrasonic_Library Motor mbed-rtos mbed
Revision 0:f1fab1a647f6, committed 2017-12-13
- Comitter:
- pmarathe25
- Date:
- Wed Dec 13 21:44:47 2017 +0000
- Commit message:
- Initial Commit
Changed in this revision
diff -r 000000000000 -r f1fab1a647f6 HC_SR04_Ultrasonic_Library.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HC_SR04_Ultrasonic_Library.lib Wed Dec 13 21:44:47 2017 +0000 @@ -0,0 +1,1 @@ +http://os.mbed.com/users/ejteb/code/HC_SR04_Ultrasonic_Library/#e0f9c9fb4cf3
diff -r 000000000000 -r f1fab1a647f6 Motor.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Motor.lib Wed Dec 13 21:44:47 2017 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/simon/code/Motor/#f265e441bcd9
diff -r 000000000000 -r f1fab1a647f6 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Dec 13 21:44:47 2017 +0000
@@ -0,0 +1,134 @@
+#include "mbed.h"
+#include "rtos.h"
+#include "Motor.h"
+#include "ultrasonic.h"
+
+Thread distance, headlightT;
+Mutex motorSpeeds;
+
+// DEBUG
+Serial pc(USBTX, USBRX);
+PwmOut led(LED1);
+PwmOut led3(LED2);
+
+PwmOut headlights(p24);
+
+// Light sensor
+AnalogIn photocell(p15);
+
+// Bluetooth
+Serial blue(p28, p27);
+// Motors
+Motor leftMotor(p22, p8, p9); // pwm, fwd, rev
+Motor rightMotor(p21, p10, p11); // pwm, fwd, rev
+
+// Motor controls
+float leftMotorForwardMax = 1.0f, rightMotorForwardMax = 1.0f,
+ leftMotorBackwardMax = 1.0f, rightMotorBackwardMax = 1.0f,
+ leftMotorCurrentSpeed = 0.0f, rightMotorCurrentSpeed = 0.0f,
+ leftCompensationScale = 0.85f, rightCompensationScale = 1.0f;
+const float MAX_BRAKING_DISTANCE = 800.0f;
+
+void setMotorSpeeds(float leftScale = 1.0, float rightScale = 1.0) {
+ leftScale *= leftCompensationScale;
+ rightScale *= rightCompensationScale;
+ leftMotorCurrentSpeed = (leftScale > 0.0) ? leftScale * leftMotorForwardMax : leftScale * leftMotorBackwardMax;
+ rightMotorCurrentSpeed = (rightScale > 0.0) ? rightScale * rightMotorForwardMax : rightScale * rightMotorBackwardMax;
+ //pc.printf("Setting left motor to %d\n", leftMotorCurrentSpeed);
+}
+
+void updateMotors() {
+ // Set motors
+ leftMotor.speed((leftMotorCurrentSpeed > leftMotorForwardMax) ? leftMotorForwardMax : leftMotorCurrentSpeed);
+ rightMotor.speed((rightMotorCurrentSpeed > rightMotorForwardMax) ? rightMotorForwardMax : rightMotorCurrentSpeed);
+ //pc.printf("Pushing %d to left motor\n", leftMotorCurrentSpeed);
+}
+
+void setForwardMaxSpeed(float left = 1.0, float right = 1.0) {
+ leftMotorForwardMax = left;
+ rightMotorForwardMax = right;
+}
+
+void onDistanceChanged(int distance) {
+ // Lock speeds before updating.
+ motorSpeeds.lock();
+ if (distance > MAX_BRAKING_DISTANCE) {
+ // Reset motor max speeds
+ setForwardMaxSpeed(1.0f, 1.0f);
+ led = 1;
+ } else if (distance > MAX_BRAKING_DISTANCE * 0.5){
+ setForwardMaxSpeed(0.5f, 0.5f);
+ led = 0.5;
+ } else {
+ setForwardMaxSpeed(0.0f, 0.0f);
+ led = 0;
+ }
+ updateMotors();
+ // Unlock
+ motorSpeeds.unlock();
+}
+
+ultrasonic mu(p6, p7, .1, 1, &onDistanceChanged);
+
+void distanceThread() {
+ mu.startUpdates(); // start measuring the distance
+ while (true) {
+ // Update sonar
+ mu.checkDistance();
+ }
+}
+
+void headlightThread() {
+ while (true) {
+ // Automatic Headlights
+ headlights = 0.8f - photocell;
+ }
+}
+
+int main() {
+ distance.start(distanceThread);
+ headlightT.start(headlightThread);
+ // Read data
+ char bnum = 0;
+ while (true) {
+ // Read controller input
+ if (blue.getc()=='!') {
+ pc.printf("Seeing bluetooth input");
+ if (blue.getc()=='B') { //button data
+ bnum = blue.getc(); //button number
+ // Locks motor speeds
+ motorSpeeds.lock();
+ led3 = 0.0f;
+ setMotorSpeeds(0.0f, 0.0f);
+ if (bnum == '5') {
+ // Up arrow, go forward
+ setMotorSpeeds(1.0, 1.0);
+ pc.printf("Forward Arrow");
+ led3 = 1.0f;
+ }
+ if (bnum == '6') {
+ // Down arrow, go backwards
+ setMotorSpeeds(-1.0, -1.0);
+ led3 = 1.0f;
+ }
+ if (bnum == '7') {
+ // Left arrow, turn left
+ setMotorSpeeds(-1.0, 1.0);
+ led3 = 1.0f;
+ }
+ if (bnum == '8') {
+ // Right arrow, turn right
+ setMotorSpeeds(1.0, -1.0);
+ led3 = 1.0f;
+ }
+ // Unlock
+ motorSpeeds.unlock();
+ }
+ }
+ // Locks speeds before pushing to motors
+ motorSpeeds.lock();
+ updateMotors();
+ motorSpeeds.unlock();
+ }
+
+}
\ No newline at end of file
diff -r 000000000000 -r f1fab1a647f6 mbed-rtos.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-rtos.lib Wed Dec 13 21:44:47 2017 +0000 @@ -0,0 +1,1 @@ +http://os.mbed.com/users/mbed_official/code/mbed-rtos/#5713cbbdb706
diff -r 000000000000 -r f1fab1a647f6 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Dec 13 21:44:47 2017 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/e7ca05fa8600 \ No newline at end of file