Savannah Hearn / Mbed 2 deprecated Cat_Tower_Sonar

This version has sonar added to the rest of the code, but the sonar is not currently working. I suspect that the interrupts from the bluetooth are interfering with the sonar working

Dependencies:   mbed sMotor HC_SR04_Ultrasonic_Library

main.cpp@1:8b9c0e69c6c9, 2021-04-05 (annotated)

Committer:
bseleb3
Date:
Mon Apr 05 16:07:12 2021 +0000
Revision:
1:8b9c0e69c6c9
Parent:
0:6999a083fb46
Child:
2:710e07252f28
commit 1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
XtaticO 0:6999a083fb46 1 #include "mbed.h"
XtaticO 0:6999a083fb46 2 #include "sMotor.h"
XtaticO 0:6999a083fb46 3
bseleb3 1:8b9c0e69c6c9 4 Serial pc(USBTX, USBRX);
bseleb3 1:8b9c0e69c6c9 5 Serial Blue(p28,p27);
bseleb3 1:8b9c0e69c6c9 6 sMotor motor(p9, p10, p11, p12); // creates new stepper motor: IN1, IN2, IN3, IN4
bseleb3 1:8b9c0e69c6c9 7 DigitalOut laser(p20);
XtaticO 0:6999a083fb46 8
bseleb3 1:8b9c0e69c6c9 9 int step_speed = 1100; // set default motor speed
bseleb3 1:8b9c0e69c6c9 10 int dir = 0; //0 is CW, 1 is CCW
XtaticO 0:6999a083fb46 11
bseleb3 1:8b9c0e69c6c9 12 volatile int C = 30;
bseleb3 1:8b9c0e69c6c9 13 volatile int numstep; // defines basic turn distance -- 256 steps == 360 degrees
bseleb3 1:8b9c0e69c6c9 14 volatile bool stationary = 1;
bseleb3 1:8b9c0e69c6c9 15 volatile bool isrand = 0;
bseleb3 1:8b9c0e69c6c9 16 volatile bool manual = 0;
bseleb3 1:8b9c0e69c6c9 17 volatile int bnum = 0;
bseleb3 1:8b9c0e69c6c9 18 volatile int bhit;
bseleb3 1:8b9c0e69c6c9 19 volatile int power = 1;
bseleb3 1:8b9c0e69c6c9 20 //state used to remember previous characters read in a button message
bseleb3 1:8b9c0e69c6c9 21 enum statetype {start = 0, got_exclm, got_B, got_num, got_hit};
bseleb3 1:8b9c0e69c6c9 22 statetype state = start;
bseleb3 1:8b9c0e69c6c9 23 //Interrupt routine to parse message with one new character per serial RX interrupt
bseleb3 1:8b9c0e69c6c9 24 void parse_message() {
bseleb3 1:8b9c0e69c6c9 25 switch (state) {
bseleb3 1:8b9c0e69c6c9 26 case start:
bseleb3 1:8b9c0e69c6c9 27 if (Blue.getc()=='!') state = got_exclm;
bseleb3 1:8b9c0e69c6c9 28 else state = start;
bseleb3 1:8b9c0e69c6c9 29 break;
bseleb3 1:8b9c0e69c6c9 30 case got_exclm:
bseleb3 1:8b9c0e69c6c9 31 if (Blue.getc() == 'B') state = got_B;
bseleb3 1:8b9c0e69c6c9 32 else state = start;
bseleb3 1:8b9c0e69c6c9 33 break;
bseleb3 1:8b9c0e69c6c9 34 case got_B:
bseleb3 1:8b9c0e69c6c9 35 bnum = Blue.getc();
bseleb3 1:8b9c0e69c6c9 36 state = got_num;
bseleb3 1:8b9c0e69c6c9 37 break;
bseleb3 1:8b9c0e69c6c9 38 case got_num:
bseleb3 1:8b9c0e69c6c9 39 bhit = Blue.getc();
bseleb3 1:8b9c0e69c6c9 40 state = got_hit;
bseleb3 1:8b9c0e69c6c9 41 break;
bseleb3 1:8b9c0e69c6c9 42 case got_hit:
bseleb3 1:8b9c0e69c6c9 43 if (Blue.getc() == char(~('!' + ' B' + bnum + bhit))) {
bseleb3 1:8b9c0e69c6c9 44 switch (bnum) {
bseleb3 1:8b9c0e69c6c9 45 case '1': //number button 1
bseleb3 1:8b9c0e69c6c9 46 isrand = 0;
bseleb3 1:8b9c0e69c6c9 47 stationary = 1;
bseleb3 1:8b9c0e69c6c9 48 break;
bseleb3 1:8b9c0e69c6c9 49 case '2': //number button 2
bseleb3 1:8b9c0e69c6c9 50 stationary = 0;
bseleb3 1:8b9c0e69c6c9 51 isrand = 0;
bseleb3 1:8b9c0e69c6c9 52 numstep = C;
bseleb3 1:8b9c0e69c6c9 53 break;
bseleb3 1:8b9c0e69c6c9 54 case '3': //number button 3
bseleb3 1:8b9c0e69c6c9 55 stationary = 0;
bseleb3 1:8b9c0e69c6c9 56 isrand = 1;
bseleb3 1:8b9c0e69c6c9 57 break;
bseleb3 1:8b9c0e69c6c9 58 case '4': //number button 4
bseleb3 1:8b9c0e69c6c9 59 power = !power;
bseleb3 1:8b9c0e69c6c9 60 }
bseleb3 1:8b9c0e69c6c9 61 }
bseleb3 1:8b9c0e69c6c9 62 default:
bseleb3 1:8b9c0e69c6c9 63 Blue.getc();
bseleb3 1:8b9c0e69c6c9 64 state = start;
bseleb3 1:8b9c0e69c6c9 65 }
bseleb3 1:8b9c0e69c6c9 66 }
XtaticO 0:6999a083fb46 67
XtaticO 0:6999a083fb46 68 int main() {
XtaticO 0:6999a083fb46 69
XtaticO 0:6999a083fb46 70 //Credits
bseleb3 1:8b9c0e69c6c9 71 printf("Cat Tower - Test Program\r\n");
XtaticO 0:6999a083fb46 72 printf("\n\r");
XtaticO 0:6999a083fb46 73
XtaticO 0:6999a083fb46 74 // Screen Menu
XtaticO 0:6999a083fb46 75 printf("Default Speed: %d\n\r",step_speed);
bseleb3 1:8b9c0e69c6c9 76 printf("Use Adafruit Bluefruit buttons to select mode");
bseleb3 1:8b9c0e69c6c9 77
bseleb3 1:8b9c0e69c6c9 78 // attach interrupt function for each new Bluetooth serial character
bseleb3 1:8b9c0e69c6c9 79 Blue.attach(&parse_message,Serial::RxIrq);
bseleb3 1:8b9c0e69c6c9 80
bseleb3 1:8b9c0e69c6c9 81 //int count = 0;
bseleb3 1:8b9c0e69c6c9 82 //int temp = 1;
XtaticO 0:6999a083fb46 83
XtaticO 0:6999a083fb46 84 while (1) {
bseleb3 1:8b9c0e69c6c9 85 laser = power;
bseleb3 1:8b9c0e69c6c9 86 if (stationary != 1) {
bseleb3 1:8b9c0e69c6c9 87 if (isrand == 1) {
bseleb3 1:8b9c0e69c6c9 88 numstep = rand() % C+1;
bseleb3 1:8b9c0e69c6c9 89 //if (count + temp*numstep < 0) {
bseleb3 1:8b9c0e69c6c9 90 // numstep = count;
bseleb3 1:8b9c0e69c6c9 91 //} else if (count + temp*numstep > C) {
bseleb3 1:8b9c0e69c6c9 92 // numstep = C - count;
bseleb3 1:8b9c0e69c6c9 93 //}
bseleb3 1:8b9c0e69c6c9 94 //count = count + temp*numstep;
bseleb3 1:8b9c0e69c6c9 95 //temp = -temp;
XtaticO 0:6999a083fb46 96 }
bseleb3 1:8b9c0e69c6c9 97 motor.step(numstep, dir, step_speed); // number of steps, direction, speed
bseleb3 1:8b9c0e69c6c9 98 dir = 1 - dir; //swap directions
XtaticO 0:6999a083fb46 99 }
XtaticO 0:6999a083fb46 100 }
XtaticO 0:6999a083fb46 101 }