Remote Control Car

Georgia Tech ECE 4180 Embedded Systems Design Final Project

Team Members

Raj Madisetti Arjun Sonti

main.cpp@2:5c9526ccb055, 2020-11-17 (annotated)

Committer:: rmadisetti3
Date:: Tue Nov 17 18:27:13 2020 +0000
Revision:: 2:5c9526ccb055
Parent:: 1:1c1ad0c1c260
Child:: 3:4956cc0efdf3

Bluetooth functionality implemented and motors operational

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	2:5c9526ccb055	7	Serial blue(p9,p10);
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
rmadisetti3	1:1c1ad0c1c260	36
rmadisetti3	1:1c1ad0c1c260	37	//Logic for AdaFruit App
rmadisetti3	1:1c1ad0c1c260	38	char bnum=0;
rmadisetti3	1:1c1ad0c1c260	39	char bhit=0;
rmadisetti3	1:1c1ad0c1c260	40	while(1) {
rmadisetti3	1:1c1ad0c1c260	41	if (blue.getc()=='!') {
rmadisetti3	1:1c1ad0c1c260	42	if (blue.getc()=='B') { //button data packet
rmadisetti3	1:1c1ad0c1c260	43	bnum = blue.getc(); //button number
rmadisetti3	1:1c1ad0c1c260	44	bhit = blue.getc(); //1=hit, 0=release
rmadisetti3	1:1c1ad0c1c260	45	if (blue.getc()==char(~('!' + 'B' + bnum + bhit))) { //checksum OK?
rmadisetti3	1:1c1ad0c1c260	46	myled = bnum - '0'; //current button number will appear on LEDs
rmadisetti3	1:1c1ad0c1c260	47	switch (bnum) {
rmadisetti3	2:5c9526ccb055	48	//case '1': //AutoPilot Mode
rmadisetti3	2:5c9526ccb055	49	// if (bhit=='1') {
rmadisetti3	2:5c9526ccb055	50	// M.speed(1.0);
rmadisetti3	2:5c9526ccb055	51	// //loop taking and printing distance
rmadisetti3	2:5c9526ccb055	52	// status = board->sensor_centre->get_distance(&distance);
rmadisetti3	2:5c9526ccb055	53	// if (distance <= 50) {
rmadisetti3	2:5c9526ccb055	54	// //turn left or right depending on location of sensor
rmadisetti3	2:5c9526ccb055	55	// M.speed(0);
rmadisetti3	2:5c9526ccb055	56	// }
rmadisetti3	2:5c9526ccb055	57	// }
rmadisetti3	2:5c9526ccb055	58	// break;
rmadisetti3	1:1c1ad0c1c260	59	case '5': //forward
rmadisetti3	1:1c1ad0c1c260	60	if (bhit=='1') {
rmadisetti3	2:5c9526ccb055	61	status = board->sensor_centre->get_distance(&distance);
rmadisetti3	2:5c9526ccb055	62	if (distance <= 50) {
rmadisetti3	2:5c9526ccb055	63	M.speed(1.0); //drive forward
rmadisetti3	2:5c9526ccb055	64	} else {
rmadisetti3	2:5c9526ccb055	65	M.speed(0.0); //stop
rmadisetti3	2:5c9526ccb055	66	}
rmadisetti3	1:1c1ad0c1c260	67	} else {
rmadisetti3	1:1c1ad0c1c260	68	M.speed(0.0); //stop
rmadisetti3	2:5c9526ccb055	69	}
rmadisetti3	1:1c1ad0c1c260	70	break;
rmadisetti3	1:1c1ad0c1c260	71	case '6': //reverse
rmadisetti3	1:1c1ad0c1c260	72	if (bhit=='1') {
rmadisetti3	1:1c1ad0c1c260	73	M.speed(-1.0); //reverse
rmadisetti3	1:1c1ad0c1c260	74	} else {
rmadisetti3	1:1c1ad0c1c260	75	M.speed(0.0); //stop
rmadisetti3	1:1c1ad0c1c260	76	}
rmadisetti3	1:1c1ad0c1c260	77	break;
rmadisetti3	1:1c1ad0c1c260	78	case '7': //left
rmadisetti3	1:1c1ad0c1c260	79	if (bhit=='1') {
rmadisetti3	1:1c1ad0c1c260	80	S = S - 0.5; //turn left
rmadisetti3	1:1c1ad0c1c260	81	}
rmadisetti3	1:1c1ad0c1c260	82	break;
rmadisetti3	1:1c1ad0c1c260	83	case '8': //right
rmadisetti3	1:1c1ad0c1c260	84	if (bhit=='1') {
rmadisetti3	1:1c1ad0c1c260	85	S = S + 0.5; //turn right
rmadisetti3	1:1c1ad0c1c260	86	}
rmadisetti3	1:1c1ad0c1c260	87	break;
rmadisetti3	2:5c9526ccb055	88	}
rmadisetti3	2:5c9526ccb055	89	}
rmadisetti3	2:5c9526ccb055	90	}
rmadisetti3	2:5c9526ccb055	91	}
rmadisetti3	2:5c9526ccb055	92	}
rmadisetti3	0:20a8dfc396cb	93	}