Remote Control Car

Georgia Tech ECE 4180 Embedded Systems Design Final Project

Team Members

Raj Madisetti Arjun Sonti

main.cpp@4:29839de66eae, 2020-11-19 (annotated)

Committer:: rmadisetti3
Date:: Thu Nov 19 21:19:12 2020 +0000
Revision:: 4:29839de66eae
Parent:: 3:4956cc0efdf3
Child:: 5:b1b250500440

Final Code

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 "Servo.h"
rmadisetti3	0:20a8dfc396cb	3	#include "motordriver.h"
rmadisetti3	4:29839de66eae	4	#include "ultrasonic.h"
rmadisetti3	0:20a8dfc396cb	5	#include <stdio.h>
rmadisetti3	1:1c1ad0c1c260	6	Serial pc(USBTX,USBRX);
rmadisetti3	4:29839de66eae	7	Serial blue(p13,p14);
rmadisetti3	0:20a8dfc396cb	8	DigitalOut myled(LED1);
rmadisetti3	0:20a8dfc396cb	9
rmadisetti3	0:20a8dfc396cb	10
rmadisetti3	3:4956cc0efdf3	11	#define AUTOPILOT 10
rmadisetti3	3:4956cc0efdf3	12	#define FORWARD 1
rmadisetti3	3:4956cc0efdf3	13	#define REVERSE -1
rmadisetti3	3:4956cc0efdf3	14	#define STOP 0
rmadisetti3	3:4956cc0efdf3	15
rmadisetti3	4:29839de66eae	16	int state = 0; //global variable stop state
rmadisetti3	4:29839de66eae	17	int status1;
rmadisetti3	4:29839de66eae	18	int status2;
rmadisetti3	4:29839de66eae	19	int distanceCenter;
rmadisetti3	4:29839de66eae	20	int distanceLeft;
rmadisetti3	4:29839de66eae	21	int distanceRight;
rmadisetti3	0:20a8dfc396cb	22	Motor M(p21, p22, p23, 1); // pwm, fwd, rev, can brake
rmadisetti3	1:1c1ad0c1c260	23	Servo S(p24);
rmadisetti3	4:29839de66eae	24
rmadisetti3	3:4956cc0efdf3	25
rmadisetti3	3:4956cc0efdf3	26	void getNewState() {
rmadisetti3	3:4956cc0efdf3	27	//Logic for AdaFruit App
rmadisetti3	3:4956cc0efdf3	28	char bnum=0;
rmadisetti3	3:4956cc0efdf3	29	char bhit=0;
rmadisetti3	3:4956cc0efdf3	30	if (blue.readable()) {
rmadisetti3	3:4956cc0efdf3	31	if (blue.getc()=='!') {
rmadisetti3	3:4956cc0efdf3	32	if (blue.getc()=='B') { //button data packet
rmadisetti3	3:4956cc0efdf3	33	bnum = blue.getc(); //button number
rmadisetti3	3:4956cc0efdf3	34	bhit = blue.getc(); //1=hit, 0=release
rmadisetti3	3:4956cc0efdf3	35	if (blue.getc()==char(~('!' + 'B' + bnum + bhit))) { //checksum OK?
rmadisetti3	3:4956cc0efdf3	36	myled = bnum - '0'; //current button number will appear on LEDs
rmadisetti3	3:4956cc0efdf3	37	switch (bnum) {
rmadisetti3	3:4956cc0efdf3	38	case '1': //AutoPilot Mode
rmadisetti3	3:4956cc0efdf3	39	if (bhit=='1') {
rmadisetti3	3:4956cc0efdf3	40	state = 10; //autopilot state
rmadisetti3	3:4956cc0efdf3	41	}
rmadisetti3	3:4956cc0efdf3	42	break;
rmadisetti3	3:4956cc0efdf3	43	case '5': //forward
rmadisetti3	3:4956cc0efdf3	44	if (bhit=='1') {
rmadisetti3	3:4956cc0efdf3	45	state = 1; //forward state
rmadisetti3	3:4956cc0efdf3	46	} else {
rmadisetti3	3:4956cc0efdf3	47	state = 0; //stop state
rmadisetti3	3:4956cc0efdf3	48	}
rmadisetti3	3:4956cc0efdf3	49	break;
rmadisetti3	3:4956cc0efdf3	50	case '6': //reverse
rmadisetti3	3:4956cc0efdf3	51	if (bhit=='1') {
rmadisetti3	3:4956cc0efdf3	52	state = -1; //reverse state
rmadisetti3	3:4956cc0efdf3	53	} else {
rmadisetti3	3:4956cc0efdf3	54	state = 0; //stop state
rmadisetti3	3:4956cc0efdf3	55	}
rmadisetti3	3:4956cc0efdf3	56	break;
rmadisetti3	3:4956cc0efdf3	57	case '7': //left
rmadisetti3	3:4956cc0efdf3	58	if (bhit=='1') {
rmadisetti3	3:4956cc0efdf3	59	S = S - 0.5; //turn left
rmadisetti3	3:4956cc0efdf3	60	}
rmadisetti3	3:4956cc0efdf3	61	break;
rmadisetti3	3:4956cc0efdf3	62	case '8': //right
rmadisetti3	3:4956cc0efdf3	63	if (bhit=='1') {
rmadisetti3	3:4956cc0efdf3	64	S = S + 0.5; //turn right
rmadisetti3	3:4956cc0efdf3	65	}
rmadisetti3	3:4956cc0efdf3	66	break;
rmadisetti3	3:4956cc0efdf3	67	}
rmadisetti3	3:4956cc0efdf3	68	}
rmadisetti3	3:4956cc0efdf3	69	}
rmadisetti3	3:4956cc0efdf3	70	}
rmadisetti3	3:4956cc0efdf3	71	}
rmadisetti3	3:4956cc0efdf3	72	}
rmadisetti3	3:4956cc0efdf3	73
rmadisetti3	3:4956cc0efdf3	74	void autoPilot() {
rmadisetti3	4:29839de66eae	75	if (distanceCenter >= 250) {
rmadisetti3	3:4956cc0efdf3	76	M.speed(1.0);
rmadisetti3	3:4956cc0efdf3	77	S = 0.5;
rmadisetti3	3:4956cc0efdf3	78	}
rmadisetti3	3:4956cc0efdf3	79	else if (distanceRight > distanceLeft) { //More space on right so turn right
rmadisetti3	3:4956cc0efdf3	80	S = 1.0;
rmadisetti3	3:4956cc0efdf3	81	}
rmadisetti3	3:4956cc0efdf3	82	else { //or turn left
rmadisetti3	3:4956cc0efdf3	83	S = 0;
rmadisetti3	3:4956cc0efdf3	84	}
rmadisetti3	3:4956cc0efdf3	85	}
rmadisetti3	0:20a8dfc396cb	86
rmadisetti3	4:29839de66eae	87	void dist1(int distance)
rmadisetti3	4:29839de66eae	88	{
rmadisetti3	4:29839de66eae	89	distanceCenter = distance;
rmadisetti3	4:29839de66eae	90	}
rmadisetti3	4:29839de66eae	91
rmadisetti3	4:29839de66eae	92	void dist2(int distance)
rmadisetti3	4:29839de66eae	93	{
rmadisetti3	4:29839de66eae	94	distanceLeft = distance;
rmadisetti3	4:29839de66eae	95	}
rmadisetti3	4:29839de66eae	96
rmadisetti3	4:29839de66eae	97	void dist3(int distance)
rmadisetti3	4:29839de66eae	98	{
rmadisetti3	4:29839de66eae	99	distanceRight = distance;
rmadisetti3	4:29839de66eae	100	}
rmadisetti3	4:29839de66eae	101
rmadisetti3	4:29839de66eae	102	ultrasonic muCenter(p6, p7, .1, 1, &dist1); //sonar 1 initialization
rmadisetti3	4:29839de66eae	103	ultrasonic muLeft(p17, p18, .1, 1, &dist2); //sonar 2 initialization
rmadisetti3	4:29839de66eae	104	ultrasonic muRight(p15, p16, .1, 1, &dist3); //sonar 3 initialization
rmadisetti3	4:29839de66eae	105
rmadisetti3	4:29839de66eae	106
rmadisetti3	0:20a8dfc396cb	107
rmadisetti3	0:20a8dfc396cb	108	int main() {
rmadisetti3	4:29839de66eae	109	//SONAR Initializations
rmadisetti3	4:29839de66eae	110	muCenter.startUpdates();//SONAR 1 starts measuring the distance
rmadisetti3	4:29839de66eae	111	muLeft.startUpdates();//SONAR 2 starts measuring the distance
rmadisetti3	4:29839de66eae	112	muRight.startUpdates();//SONAR 3 starts measuring the distance
rmadisetti3	3:4956cc0efdf3	113	while(1) { //main loop for motor control
rmadisetti3	4:29839de66eae	114	pc.printf("Center D=%ld mm\r\n", distanceCenter);
rmadisetti3	4:29839de66eae	115	pc.printf("Right D=%ld mm\r\n", distanceRight);
rmadisetti3	4:29839de66eae	116	pc.printf("Left D=%ld mm\r\n", distanceLeft);
rmadisetti3	4:29839de66eae	117	muCenter.checkDistance(); //SONAR measuring starts
rmadisetti3	4:29839de66eae	118	muLeft.checkDistance();
rmadisetti3	4:29839de66eae	119	muRight.checkDistance();
rmadisetti3	3:4956cc0efdf3	120	getNewState();
rmadisetti3	4:29839de66eae	121	if (distanceCenter >= 250 && state == FORWARD) {
rmadisetti3	3:4956cc0efdf3	122	M.speed(1.0);
rmadisetti3	3:4956cc0efdf3	123	}
rmadisetti3	3:4956cc0efdf3	124	else if (state == REVERSE) {
rmadisetti3	3:4956cc0efdf3	125	M.speed(-1.0);
rmadisetti3	3:4956cc0efdf3	126	}
rmadisetti3	3:4956cc0efdf3	127	else if (state == AUTOPILOT) {
rmadisetti3	3:4956cc0efdf3	128	autoPilot();
rmadisetti3	3:4956cc0efdf3	129	}
rmadisetti3	3:4956cc0efdf3	130	else {
rmadisetti3	3:4956cc0efdf3	131	M.speed(0);
rmadisetti3	2:5c9526ccb055	132	}
rmadisetti3	2:5c9526ccb055	133	}
rmadisetti3	3:4956cc0efdf3	134
rmadisetti3	0:20a8dfc396cb	135	}