Remote Control Car

Georgia Tech ECE 4180 Embedded Systems Design Final Project

Team Members

Raj Madisetti Arjun Sonti

main.cpp@1:1c1ad0c1c260, 2020-11-15 (annotated)

Committer:: rmadisetti3
Date:: Sun Nov 15 23:01:55 2020 +0000
Revision:: 1:1c1ad0c1c260
Parent:: 0:20a8dfc396cb
Child:: 2:5c9526ccb055

Added AdaFruit app functionality and LIDAR sensor functionality;

Who changed what in which revision?

User	Revision	Line number	New contents of line
rmadisetti3	0:20a8dfc396cb	1	#include "mbed.h"
rmadisetti3	0:20a8dfc396cb	2	#include "XNucleo53L0A1.h"
rmadisetti3	0:20a8dfc396cb	3	#include "Servo.h"
rmadisetti3	0:20a8dfc396cb	4	#include "motordriver.h"
rmadisetti3	0:20a8dfc396cb	5	#include <stdio.h>
rmadisetti3	1:1c1ad0c1c260	6	Serial pc(USBTX,USBRX);
rmadisetti3	1:1c1ad0c1c260	7	Serial blue(p28,p27);
rmadisetti3	1:1c1ad0c1c260	8	DigitalOut shdn(p26);
rmadisetti3	0:20a8dfc396cb	9	DigitalOut myled(LED1);
rmadisetti3	0:20a8dfc396cb	10
rmadisetti3	1:1c1ad0c1c260	11	#define VL53L0_I2C_SDA p28
rmadisetti3	1:1c1ad0c1c260	12	#define VL53L0_I2C_SCL p27
rmadisetti3	0:20a8dfc396cb	13
rmadisetti3	1:1c1ad0c1c260	14	static XNucleo53L0A1 *board=NULL;
rmadisetti3	0:20a8dfc396cb	15	Motor M(p21, p22, p23, 1); // pwm, fwd, rev, can brake
rmadisetti3	1:1c1ad0c1c260	16	Servo S(p24);
rmadisetti3	0:20a8dfc396cb	17
rmadisetti3	0:20a8dfc396cb	18
rmadisetti3	0:20a8dfc396cb	19	int main() {
rmadisetti3	1:1c1ad0c1c260	20	int status;
rmadisetti3	1:1c1ad0c1c260	21	uint32_t distance;
rmadisetti3	1:1c1ad0c1c260	22	DevI2C *device_i2c = new DevI2C(VL53L0_I2C_SDA, VL53L0_I2C_SCL);
rmadisetti3	1:1c1ad0c1c260	23	/* creates the 53L0A1 expansion board singleton obj */
rmadisetti3	1:1c1ad0c1c260	24	board = XNucleo53L0A1::instance(device_i2c, A2, D8, D2);
rmadisetti3	1:1c1ad0c1c260	25	shdn = 0; //must reset sensor for an mbed reset to work
rmadisetti3	1:1c1ad0c1c260	26	wait(0.1);
rmadisetti3	1:1c1ad0c1c260	27	shdn = 1;
rmadisetti3	1:1c1ad0c1c260	28	wait(0.1);
rmadisetti3	1:1c1ad0c1c260	29	/* init the 53L0A1 board with default values */
rmadisetti3	1:1c1ad0c1c260	30	status = board->init_board();
rmadisetti3	1:1c1ad0c1c260	31	while (status) {
rmadisetti3	1:1c1ad0c1c260	32	pc.printf("Failed to init board! \r\n");
rmadisetti3	1:1c1ad0c1c260	33	status = board->init_board();
rmadisetti3	1:1c1ad0c1c260	34	}
rmadisetti3	1:1c1ad0c1c260	35	//loop taking and printing distance
rmadisetti3	1:1c1ad0c1c260	36	while (1) {
rmadisetti3	1:1c1ad0c1c260	37	status = board->sensor_centre->get_distance(&distance);
rmadisetti3	1:1c1ad0c1c260	38	if (status == VL53L0X_ERROR_NONE) {
rmadisetti3	1:1c1ad0c1c260	39	pc.printf("D=%ld mm\r\n", distance);
rmadisetti3	1:1c1ad0c1c260	40	}
rmadisetti3	0:20a8dfc396cb	41	}
rmadisetti3	0:20a8dfc396cb	42
rmadisetti3	1:1c1ad0c1c260	43
rmadisetti3	1:1c1ad0c1c260	44
rmadisetti3	1:1c1ad0c1c260	45	//Logic for AdaFruit App
rmadisetti3	1:1c1ad0c1c260	46	char bnum=0;
rmadisetti3	1:1c1ad0c1c260	47	char bhit=0;
rmadisetti3	1:1c1ad0c1c260	48	while(1) {
rmadisetti3	1:1c1ad0c1c260	49	if (blue.getc()=='!') {
rmadisetti3	1:1c1ad0c1c260	50	if (blue.getc()=='B') { //button data packet
rmadisetti3	1:1c1ad0c1c260	51	bnum = blue.getc(); //button number
rmadisetti3	1:1c1ad0c1c260	52	bhit = blue.getc(); //1=hit, 0=release
rmadisetti3	1:1c1ad0c1c260	53	if (blue.getc()==char(~('!' + 'B' + bnum + bhit))) { //checksum OK?
rmadisetti3	1:1c1ad0c1c260	54	myled = bnum - '0'; //current button number will appear on LEDs
rmadisetti3	1:1c1ad0c1c260	55	switch (bnum) {
rmadisetti3	1:1c1ad0c1c260	56	case '1': //AutoPilot Mode
rmadisetti3	1:1c1ad0c1c260	57	if (bhit=='1') {
rmadisetti3	1:1c1ad0c1c260	58	//loop taking and printing distance
rmadisetti3	1:1c1ad0c1c260	59	while (1) {
rmadisetti3	1:1c1ad0c1c260	60	status = board->sensor_centre->get_distance(&distance);
rmadisetti3	1:1c1ad0c1c260	61	if (distance <= 50) {
rmadisetti3	1:1c1ad0c1c260	62	//turn left or right depending on location of sensor
rmadisetti3	1:1c1ad0c1c260	63	}
rmadisetti3	1:1c1ad0c1c260	64	}
rmadisetti3	1:1c1ad0c1c260	65	break;
rmadisetti3	1:1c1ad0c1c260	66	case '5': //forward
rmadisetti3	1:1c1ad0c1c260	67	if (bhit=='1') {
rmadisetti3	1:1c1ad0c1c260	68	M.speed(1.0); //drive forward
rmadisetti3	1:1c1ad0c1c260	69	} else {
rmadisetti3	1:1c1ad0c1c260	70	M.speed(0.0); //stop
rmadisetti3	1:1c1ad0c1c260	71	}
rmadisetti3	1:1c1ad0c1c260	72	break;
rmadisetti3	1:1c1ad0c1c260	73	case '6': //reverse
rmadisetti3	1:1c1ad0c1c260	74	if (bhit=='1') {
rmadisetti3	1:1c1ad0c1c260	75	M.speed(-1.0); //reverse
rmadisetti3	1:1c1ad0c1c260	76	} else {
rmadisetti3	1:1c1ad0c1c260	77	M.speed(0.0); //stop
rmadisetti3	1:1c1ad0c1c260	78	}
rmadisetti3	1:1c1ad0c1c260	79	break;
rmadisetti3	1:1c1ad0c1c260	80	case '7': //left
rmadisetti3	1:1c1ad0c1c260	81	if (bhit=='1') {
rmadisetti3	1:1c1ad0c1c260	82	S = S - 0.5; //turn left
rmadisetti3	1:1c1ad0c1c260	83	}
rmadisetti3	1:1c1ad0c1c260	84	break;
rmadisetti3	1:1c1ad0c1c260	85	case '8': //right
rmadisetti3	1:1c1ad0c1c260	86	if (bhit=='1') {
rmadisetti3	1:1c1ad0c1c260	87	S = S + 0.5; //turn right
rmadisetti3	1:1c1ad0c1c260	88	}
rmadisetti3	1:1c1ad0c1c260	89	break;
rmadisetti3	0:20a8dfc396cb	90	}