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.cpp@1:6c399fc35deb, 2013-11-18 (annotated)

Committer:
dhamilton31
Date:
Mon Nov 18 21:09:13 2013 +0000
Revision:
1:6c399fc35deb
Parent:
iRobot.cpp@0:3ed56271dd2d
Child:
3:de12b39ad805
how many things must I commit?!?

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dhamilton31 0:3ed56271dd2d 1 #include "mbed.h"
dhamilton31 0:3ed56271dd2d 2 #include "iRobot.h"
dhamilton31 1:6c399fc35deb 3
dhamilton31 0:3ed56271dd2d 4 // Definitions of iRobot Create OpenInterface Command Numbers
dhamilton31 0:3ed56271dd2d 5 // See the Create OpenInterface manual for a complete list
dhamilton31 1:6c399fc35deb 6
dhamilton31 1:6c399fc35deb 7 iRobot::iRobot(PinName tx, PinName rx) : device(tx, rx)
dhamilton31 1:6c399fc35deb 8 {
dhamilton31 1:6c399fc35deb 9 speed_left = 100;
dhamilton31 1:6c399fc35deb 10 speed_right = 100;
dhamilton31 1:6c399fc35deb 11 // set baud rate for Create factory default
dhamilton31 1:6c399fc35deb 12 device.baud(57600);
dhamilton31 1:6c399fc35deb 13 }
dhamilton31 1:6c399fc35deb 14
dhamilton31 1:6c399fc35deb 15 void iRobot::changeSpeed(int speed)
dhamilton31 1:6c399fc35deb 16 {
dhamilton31 1:6c399fc35deb 17 speed_left = speed;
dhamilton31 1:6c399fc35deb 18 speed_right = speed;
dhamilton31 1:6c399fc35deb 19 }
dhamilton31 1:6c399fc35deb 20
dhamilton31 1:6c399fc35deb 21 char iRobot::sensorCode()
dhamilton31 1:6c399fc35deb 22 {
dhamilton31 1:6c399fc35deb 23 char error = Sensor_Data_Byte_Error;
dhamilton31 1:6c399fc35deb 24 Sensor_Data_Byte_Error = 0;
dhamilton31 1:6c399fc35deb 25 return error;
dhamilton31 1:6c399fc35deb 26 }
dhamilton31 1:6c399fc35deb 27
dhamilton31 0:3ed56271dd2d 28 // Start - send start and safe mode, start streaming sensor data
dhamilton31 1:6c399fc35deb 29 void iRobot::start()
dhamilton31 1:6c399fc35deb 30 {
dhamilton31 1:6c399fc35deb 31 // device.printf("%c%c", Start, SafeMode);
dhamilton31 0:3ed56271dd2d 32 device.putc(Start);
dhamilton31 0:3ed56271dd2d 33 device.putc(SafeMode);
dhamilton31 0:3ed56271dd2d 34 wait(.5);
dhamilton31 1:6c399fc35deb 35 // device.printf("%c%c%c", SensorStream, char(1), BumpsandDrops);
dhamilton31 0:3ed56271dd2d 36 device.putc(SensorStream);
dhamilton31 0:3ed56271dd2d 37 device.putc(1);
dhamilton31 0:3ed56271dd2d 38 device.putc(BumpsandDrops);
dhamilton31 1:6c399fc35deb 39 wait(.2);
dhamilton31 1:6c399fc35deb 40 // Setup a serial interrupt function to receive data
dhamilton31 1:6c399fc35deb 41 device.attach(this, &iRobot::receive_sensor);
dhamilton31 0:3ed56271dd2d 42 }
dhamilton31 0:3ed56271dd2d 43 // Stop - turn off drive motors
dhamilton31 1:6c399fc35deb 44 void iRobot::stop()
dhamilton31 1:6c399fc35deb 45 {
dhamilton31 0:3ed56271dd2d 46 device.printf("%c%c%c%c%c", DriveDirect, char(0), char(0), char(0), char(0));
dhamilton31 0:3ed56271dd2d 47 }
dhamilton31 0:3ed56271dd2d 48 // Forward - turn on drive motors
dhamilton31 1:6c399fc35deb 49 void iRobot::forward()
dhamilton31 1:6c399fc35deb 50 {
dhamilton31 1:6c399fc35deb 51 device.printf("%c%c%c%c%c", DriveDirect, char((speed_right>>8)&0xFF), char(speed_right&0xFF),
dhamilton31 1:6c399fc35deb 52 char((speed_left>>8)&0xFF), char(speed_left&0xFF));
dhamilton31 1:6c399fc35deb 53
dhamilton31 0:3ed56271dd2d 54 }
dhamilton31 0:3ed56271dd2d 55 // Reverse - reverse drive motors
dhamilton31 1:6c399fc35deb 56 void iRobot::reverse()
dhamilton31 1:6c399fc35deb 57 {
dhamilton31 1:6c399fc35deb 58 device.printf("%c%c%c%c%c", DriveDirect, char(((-speed_right)>>8)&0xFF), char((-speed_right)&0xFF),
dhamilton31 1:6c399fc35deb 59 char(((-speed_left)>>8)&0xFF), char((-speed_left)&0xFF));
dhamilton31 1:6c399fc35deb 60
dhamilton31 0:3ed56271dd2d 61 }
dhamilton31 0:3ed56271dd2d 62 // Left - drive motors set to rotate to left
dhamilton31 1:6c399fc35deb 63 void iRobot::left()
dhamilton31 1:6c399fc35deb 64 {
dhamilton31 1:6c399fc35deb 65 device.printf("%c%c%c%c%c", DriveDirect, char((speed_right>>8)&0xFF), char(speed_right&0xFF),
dhamilton31 1:6c399fc35deb 66 char(((-speed_left)>>8)&0xFF), char((-speed_left)&0xFF));
dhamilton31 0:3ed56271dd2d 67 }
dhamilton31 0:3ed56271dd2d 68 // Right - drive motors set to rotate to right
dhamilton31 1:6c399fc35deb 69 void iRobot::right()
dhamilton31 1:6c399fc35deb 70 {
dhamilton31 1:6c399fc35deb 71 device.printf("%c%c%c%c%c", DriveDirect, char(((-speed_right)>>8)&0xFF), char((-speed_right)&0xFF),
dhamilton31 1:6c399fc35deb 72 char((speed_left>>8)&0xFF), char(speed_left&0xFF));
dhamilton31 1:6c399fc35deb 73
dhamilton31 0:3ed56271dd2d 74 }
dhamilton31 0:3ed56271dd2d 75 // Charger - search and return to charger using IR beacons (if found)
dhamilton31 1:6c399fc35deb 76 void iRobot::charger()
dhamilton31 1:6c399fc35deb 77 {
dhamilton31 0:3ed56271dd2d 78 device.printf("%c%c", Demo, char(1));
dhamilton31 0:3ed56271dd2d 79 }
dhamilton31 1:6c399fc35deb 80
dhamilton31 0:3ed56271dd2d 81 // Play Song - define and play a song
dhamilton31 1:6c399fc35deb 82 void iRobot::playsong() // Send out notes & duration to define song and then play song
dhamilton31 1:6c399fc35deb 83 {
dhamilton31 1:6c399fc35deb 84
dhamilton31 1:6c399fc35deb 85 device.printf("%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c",
dhamilton31 0:3ed56271dd2d 86 Song, char(0), char(16), char(91), char(24), char(89), char(12), char(87), char(36), char(87),
dhamilton31 0:3ed56271dd2d 87 char(24), char(89), char(12), char(91), char(24), char(91), char(12), char(91), char(12), char(89),
dhamilton31 0:3ed56271dd2d 88 char(12),char(87), char(12), char(89), char(12), char(91), char(12), char(89), char(12), char(87),
dhamilton31 0:3ed56271dd2d 89 char(24), char(86), char(12), char(87), char(48));
dhamilton31 1:6c399fc35deb 90
dhamilton31 0:3ed56271dd2d 91 wait(.2);
dhamilton31 0:3ed56271dd2d 92 device.printf("%c%c", PlaySong, char(0));
dhamilton31 1:6c399fc35deb 93 }
dhamilton31 1:6c399fc35deb 94
dhamilton31 1:6c399fc35deb 95 // Interrupt Routine to read in serial sensor data packets - BumpandDrop sensor only
dhamilton31 1:6c399fc35deb 96 void iRobot::receive_sensor()
dhamilton31 1:6c399fc35deb 97 {
dhamilton31 1:6c399fc35deb 98 char start_character;
dhamilton31 1:6c399fc35deb 99 // Loop just in case more than one character is in UART's receive FIFO buffer
dhamilton31 1:6c399fc35deb 100 while (device.readable()) {
dhamilton31 1:6c399fc35deb 101 switch (Sensor_byte_count) {
dhamilton31 1:6c399fc35deb 102 // Wait for Sensor Data Packet Header of 19
dhamilton31 1:6c399fc35deb 103 case 0: {
dhamilton31 1:6c399fc35deb 104 start_character = device.getc();
dhamilton31 1:6c399fc35deb 105 if (start_character == 19) Sensor_byte_count++;
dhamilton31 1:6c399fc35deb 106 break;
dhamilton31 1:6c399fc35deb 107 }
dhamilton31 1:6c399fc35deb 108 // Number of Packet Bytes
dhamilton31 1:6c399fc35deb 109 case 1: {
dhamilton31 1:6c399fc35deb 110 Sensor_Num_Bytes = device.getc();
dhamilton31 1:6c399fc35deb 111 Sensor_byte_count++;
dhamilton31 1:6c399fc35deb 112 break;
dhamilton31 1:6c399fc35deb 113 }
dhamilton31 1:6c399fc35deb 114 // Sensor ID of next data value
dhamilton31 1:6c399fc35deb 115 case 2: {
dhamilton31 1:6c399fc35deb 116 Sensor_ID = device.getc();
dhamilton31 1:6c399fc35deb 117 Sensor_byte_count++;
dhamilton31 1:6c399fc35deb 118 break;
dhamilton31 1:6c399fc35deb 119 }
dhamilton31 1:6c399fc35deb 120 // Sensor data value
dhamilton31 1:6c399fc35deb 121 case 3: {
dhamilton31 1:6c399fc35deb 122 Sensor_Data_Byte = device.getc();
dhamilton31 1:6c399fc35deb 123 if(Sensor_Data_Byte != 0){
dhamilton31 1:6c399fc35deb 124 Sensor_Data_Byte_Error = Sensor_Data_Byte;
dhamilton31 1:6c399fc35deb 125 }
dhamilton31 1:6c399fc35deb 126 Sensor_byte_count++;
dhamilton31 1:6c399fc35deb 127 break;
dhamilton31 1:6c399fc35deb 128 }
dhamilton31 1:6c399fc35deb 129 // Read Checksum and update LEDs with sensor data
dhamilton31 1:6c399fc35deb 130 case 4: {
dhamilton31 1:6c399fc35deb 131 Sensor_Checksum = device.getc();
dhamilton31 1:6c399fc35deb 132 // Could add code here to check the checksum and ignore a bad data packet
dhamilton31 1:6c399fc35deb 133 /*led1 = Sensor_Data_Byte &0x01;
dhamilton31 1:6c399fc35deb 134 led2 = Sensor_Data_Byte &0x02;
dhamilton31 1:6c399fc35deb 135 led3 = Sensor_Data_Byte &0x04;
dhamilton31 1:6c399fc35deb 136 led4 = Sensor_Data_Byte &0x08;*/
dhamilton31 1:6c399fc35deb 137 Sensor_byte_count = 0;
dhamilton31 1:6c399fc35deb 138 break;
dhamilton31 1:6c399fc35deb 139 }
dhamilton31 1:6c399fc35deb 140 }
dhamilton31 1:6c399fc35deb 141 }
dhamilton31 1:6c399fc35deb 142 return;
dhamilton31 0:3ed56271dd2d 143 }