Rahul Shetty / Mbed 2 deprecated FollowMeBot

The FollowMeBot follows the user based on the color of his or her shirt. The device hosts a webcam on a servo to find the object and orient the robot. The color is chosen through the user interface with push buttons. Currently, the MATLAB code supports red and green detection. The purpose of FollowMeBot is to be able to follow the user in order to be helpful for daily tasks.

Dependencies:   Rectangle Servo TextLCD mbed

Fork of FollowMeBot3 by Rahul Shetty

iRobot/iRobot.h@11:503f845d2766, 2013-12-07 (annotated)

Committer:
rshetty6
Date:
Sat Dec 07 04:06:40 2013 +0000
Revision:
11:503f845d2766
Parent:
3:de12b39ad805 
Final commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dhamilton31 0:3ed56271dd2d 1 #ifndef __IROBOT__
dhamilton31 0:3ed56271dd2d 2 #define __IROBOT__
dhamilton31 0:3ed56271dd2d 3
dhamilton31 0:3ed56271dd2d 4 #include "mbed.h"
dhamilton31 0:3ed56271dd2d 5
dhamilton31 0:3ed56271dd2d 6 class iRobot
dhamilton31 0:3ed56271dd2d 7 {
dhamilton31 0:3ed56271dd2d 8
dhamilton31 0:3ed56271dd2d 9 public:
dhamilton31 0:3ed56271dd2d 10
dhamilton31 0:3ed56271dd2d 11 iRobot(PinName tx, PinName rx);
dhamilton31 0:3ed56271dd2d 12 void start();
dhamilton31 0:3ed56271dd2d 13 void forward();
dhamilton31 0:3ed56271dd2d 14 void reverse();
dhamilton31 0:3ed56271dd2d 15 void left();
dhamilton31 0:3ed56271dd2d 16 void right();
dhamilton31 0:3ed56271dd2d 17 void stop();
dhamilton31 0:3ed56271dd2d 18 void playsong();
dhamilton31 0:3ed56271dd2d 19 void charger();
dhamilton31 1:6c399fc35deb 20 void changeSpeed(int speed);
dhamilton31 1:6c399fc35deb 21 void receive_sensor();
dhamilton31 1:6c399fc35deb 22 char sensorCode();
dhamilton31 3:de12b39ad805 23 int getAngle();
dhamilton31 3:de12b39ad805 24 void turnAngle(int angle);
dhamilton31 0:3ed56271dd2d 25
dhamilton31 0:3ed56271dd2d 26 private:
dhamilton31 0:3ed56271dd2d 27
dhamilton31 0:3ed56271dd2d 28 // Create Command // Arguments
dhamilton31 0:3ed56271dd2d 29 static const char Start = 128;
dhamilton31 0:3ed56271dd2d 30 static const char SafeMode = 131;
dhamilton31 0:3ed56271dd2d 31 static const char FullMode = 132;
dhamilton31 0:3ed56271dd2d 32 static const char Drive = 137; // 4: [Vel. Hi] [Vel Low] [Rad. Hi] [Rad. Low]
dhamilton31 0:3ed56271dd2d 33 static const char DriveDirect = 145; // 4: [Right Hi] [Right Low] [Left Hi] [Left Low]
dhamilton31 0:3ed56271dd2d 34 static const char Demo = 136; // 2: Run Demo x
dhamilton31 0:3ed56271dd2d 35 static const char Sensors = 142; // 1: Sensor Packet ID
dhamilton31 0:3ed56271dd2d 36 static const char CoverandDock = 143; // 1: Return to Charger
dhamilton31 0:3ed56271dd2d 37 static const char SensorStream = 148; // x+1: [# of packets requested] IDs of requested packets to stream
dhamilton31 0:3ed56271dd2d 38 static const char QueryList = 149; // x+1: [# of packets requested] IDs of requested packets to stream
dhamilton31 0:3ed56271dd2d 39 static const char StreamPause = 150; // 1: 0 = stop stream, 1 = start stream
dhamilton31 0:3ed56271dd2d 40 static const char PlaySong = 141;
dhamilton31 0:3ed56271dd2d 41 static const char Song = 140;
dhamilton31 0:3ed56271dd2d 42 static const char BumpsandDrops = 7;
dhamilton31 0:3ed56271dd2d 43 static const char Distance = 19;
dhamilton31 0:3ed56271dd2d 44 static const char Angle = 20;
dhamilton31 3:de12b39ad805 45 static const char waitAngle = 157;
dhamilton31 1:6c399fc35deb 46 /* Global variables with sensor packet info */
dhamilton31 1:6c399fc35deb 47 char Sensor_byte_count;
dhamilton31 1:6c399fc35deb 48 char Sensor_Data_Byte;
dhamilton31 1:6c399fc35deb 49 char Sensor_Data_Byte_Error;
dhamilton31 1:6c399fc35deb 50 char Sensor_ID;
dhamilton31 1:6c399fc35deb 51 char Sensor_Num_Bytes;
dhamilton31 1:6c399fc35deb 52 char Sensor_Checksum;
dhamilton31 0:3ed56271dd2d 53
dhamilton31 0:3ed56271dd2d 54 int speed_left;
dhamilton31 0:3ed56271dd2d 55 int speed_right;
dhamilton31 0:3ed56271dd2d 56 Serial device;
dhamilton31 0:3ed56271dd2d 57 };
dhamilton31 0:3ed56271dd2d 58
dhamilton31 0:3ed56271dd2d 59 #endif