ryan lin / Mbed 2 deprecated wheelchairalexa

wheelchair code for alexa integration

Dependencies:   mbed

Fork of wheelchaircontrol by ryan lin

main.cpp@12:3cf6376007c6, 2018-08-17 (annotated)

Committer:
ryanlin97
Date:
Fri Aug 17 03:12:21 2018 +0000
Revision:
12:3cf6376007c6
Parent:
11:75f0f13ff6c1 
alexa code

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ryanlin97 0:fc0c4a184482 1 #include "wheelchair.h"
ryanlin97 0:fc0c4a184482 2
ryanlin97 3:a5e71bfdb492 3 AnalogIn x(A0);
ryanlin97 3:a5e71bfdb492 4 AnalogIn y(A1);
ryanlin97 3:a5e71bfdb492 5
ryanlin97 12:3cf6376007c6 6 DigitalOut on(D12);
ryanlin97 12:3cf6376007c6 7 DigitalOut off(D11);
ryanlin97 0:fc0c4a184482 8 DigitalOut up(D2);
ryanlin97 0:fc0c4a184482 9 DigitalOut down(D3);
ryanlin97 2:c2d049efc266 10
ryanlin97 10:e5463c11e0a0 11 bool manual = false;
ryanlin97 10:e5463c11e0a0 12
ryanlin97 12:3cf6376007c6 13 Serial pc(USBTX, USBRX, 9600);
ryanlin97 7:5e38d43fbce3 14 Timer t;
ryanlin97 6:0cd57bdd8fbc 15
ryanlin97 11:75f0f13ff6c1 16 Wheelchair smart(xDir,yDir, &pc, &t);
ryanlin97 11:75f0f13ff6c1 17
ryanlin97 12:3cf6376007c6 18 char c = 'z';
ryanlin97 2:c2d049efc266 19
ryanlin97 0:fc0c4a184482 20 int main(void)
ryanlin97 0:fc0c4a184482 21 {
ryanlin97 6:0cd57bdd8fbc 22 while(1) {
ryanlin97 10:e5463c11e0a0 23 if( pc.readable()) {
ryanlin97 12:3cf6376007c6 24 c = pc.getc();
ryanlin97 12:3cf6376007c6 25 }
ryanlin97 12:3cf6376007c6 26
ryanlin97 12:3cf6376007c6 27 else {
ryanlin97 10:e5463c11e0a0 28 if( c == 'w') {
ryanlin97 10:e5463c11e0a0 29 pc.printf("up \n");
ryanlin97 10:e5463c11e0a0 30 smart.forward();
ryanlin97 10:e5463c11e0a0 31 }
ryanlin97 6:0cd57bdd8fbc 32
ryanlin97 11:75f0f13ff6c1 33 else if( c == 'a') {
ryanlin97 10:e5463c11e0a0 34 pc.printf("left \n");
ryanlin97 10:e5463c11e0a0 35 smart.left();
ryanlin97 10:e5463c11e0a0 36 }
ryanlin97 6:0cd57bdd8fbc 37
ryanlin97 11:75f0f13ff6c1 38 else if( c == 'd') {
ryanlin97 10:e5463c11e0a0 39 pc.printf("right \n");
ryanlin97 10:e5463c11e0a0 40 smart.right();
ryanlin97 10:e5463c11e0a0 41 }
ryanlin97 6:0cd57bdd8fbc 42
ryanlin97 10:e5463c11e0a0 43 else if( c == 's') {
ryanlin97 10:e5463c11e0a0 44 pc.printf("down \n");
ryanlin97 10:e5463c11e0a0 45 smart.backward();
ryanlin97 10:e5463c11e0a0 46 }
ryanlin97 6:0cd57bdd8fbc 47
ryanlin97 10:e5463c11e0a0 48 else if( c == 'r') {
ryanlin97 11:75f0f13ff6c1 49 smart.turn_right(90);
ryanlin97 10:e5463c11e0a0 50 }
ryanlin97 6:0cd57bdd8fbc 51
ryanlin97 10:e5463c11e0a0 52 else if( c == 'l') {
ryanlin97 11:75f0f13ff6c1 53 smart.turn_left(90);
ryanlin97 10:e5463c11e0a0 54 }
ryanlin97 12:3cf6376007c6 55 else if(c == 'o') {
ryanlin97 12:3cf6376007c6 56 pc.printf("turning on\n");
ryanlin97 12:3cf6376007c6 57 on = 1;
ryanlin97 12:3cf6376007c6 58 wait(1);
ryanlin97 12:3cf6376007c6 59 on = 0;
ryanlin97 12:3cf6376007c6 60 c = 'z';
ryanlin97 12:3cf6376007c6 61 } else if(c == 'f') {
ryanlin97 12:3cf6376007c6 62 pc.printf("turning off\n");
ryanlin97 12:3cf6376007c6 63 off = 1;
ryanlin97 12:3cf6376007c6 64 wait(1);
ryanlin97 12:3cf6376007c6 65 off = 0;
ryanlin97 12:3cf6376007c6 66 c = 'z';
ryanlin97 12:3cf6376007c6 67 }
ryanlin97 6:0cd57bdd8fbc 68
ryanlin97 11:75f0f13ff6c1 69 else if( c == 't') {
ryanlin97 11:75f0f13ff6c1 70 char buffer[256];
ryanlin97 11:75f0f13ff6c1 71 pc.printf ("Enter a long number: ");
ryanlin97 11:75f0f13ff6c1 72 fgets (buffer, 256, stdin);
ryanlin97 11:75f0f13ff6c1 73 int angle = atoi (buffer);
ryanlin97 12:3cf6376007c6 74
ryanlin97 11:75f0f13ff6c1 75 if(angle == 0) {
ryanlin97 11:75f0f13ff6c1 76 pc.printf("invalid input try again\n");
ryanlin97 12:3cf6376007c6 77 } else {
ryanlin97 12:3cf6376007c6 78 smart.turn(angle);
ryanlin97 12:3cf6376007c6 79 }
ryanlin97 12:3cf6376007c6 80
ryanlin97 12:3cf6376007c6 81 }
ryanlin97 12:3cf6376007c6 82
ryanlin97 11:75f0f13ff6c1 83 else if( c == 'm') {
ryanlin97 10:e5463c11e0a0 84 pc.printf("turning on joystick\n");
ryanlin97 10:e5463c11e0a0 85 manual = true;
ryanlin97 11:75f0f13ff6c1 86 t.reset();
ryanlin97 10:e5463c11e0a0 87 while(manual) {
ryanlin97 10:e5463c11e0a0 88 smart.move(x,y);
ryanlin97 10:e5463c11e0a0 89 if( pc.readable()) {
ryanlin97 10:e5463c11e0a0 90 char d = pc.getc();
ryanlin97 10:e5463c11e0a0 91 if( d == 'm') {
ryanlin97 10:e5463c11e0a0 92 pc.printf("turning off joystick\n");
ryanlin97 10:e5463c11e0a0 93 manual = false;
ryanlin97 10:e5463c11e0a0 94 }
ryanlin97 10:e5463c11e0a0 95 }
ryanlin97 10:e5463c11e0a0 96 }
ryanlin97 10:e5463c11e0a0 97 }
ryanlin97 6:0cd57bdd8fbc 98
ryanlin97 10:e5463c11e0a0 99 else {
ryanlin97 10:e5463c11e0a0 100 smart.stop();
ryanlin97 12:3cf6376007c6 101 pc.printf("hello\n");
ryanlin97 10:e5463c11e0a0 102 }
ryanlin97 10:e5463c11e0a0 103 }
ryanlin97 6:0cd57bdd8fbc 104 }
ryanlin97 12:3cf6376007c6 105 wait(process);
ryanlin97 0:fc0c4a184482 106 }
ryanlin97 0:fc0c4a184482 107
ryanlin97 12:3cf6376007c6 108
ryanlin97 12:3cf6376007c6 109