Sille Van Landschoot / Mbed 2 deprecated m3Dpi-helloworld

m3Dpi robot, based on the Pololu 3pi and m3pi. m3Dpi has multiple distance sensors, gyroscope, compass and accelerometer sensor to be fully aware of its environment. With the addition of xbee or nrf24n01 module it has wireless communication capabilities.

Dependencies:   m3Dpi mbed-rtos mbed MbedJSONValue

main.cpp@6:414e1fea64f3, 2015-12-03 (annotated)

Committer:
sillevl
Date:
Thu Dec 03 16:36:20 2015 +0000
Revision:
6:414e1fea64f3
Parent:
1:6f620263c9f8
Child:
7:9068fc754a0b
add json library and ticker for sensor reading

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sillevl 0:ab0ce9ab81bf 1
sillevl 1:6f620263c9f8 2 #include "M3Dpi.h"
sillevl 6:414e1fea64f3 3 #include "MbedJSONValue.h"
sillevl 1:6f620263c9f8 4
sillevl 6:414e1fea64f3 5 M3Dpi robot;
sillevl 1:6f620263c9f8 6 Serial pc(USBTX,USBRX);
sillevl 1:6f620263c9f8 7
sillevl 6:414e1fea64f3 8 Ticker tick;
sillevl 6:414e1fea64f3 9
sillevl 6:414e1fea64f3 10 const char M3DPI_ID[] = "1234567890";
sillevl 6:414e1fea64f3 11
sillevl 6:414e1fea64f3 12 MbedJSONValue* jsonFactory()
sillevl 6:414e1fea64f3 13 {
sillevl 6:414e1fea64f3 14 MbedJSONValue* json = new MbedJSONValue();
sillevl 6:414e1fea64f3 15 (*json)["id"] = M3DPI_ID;
sillevl 6:414e1fea64f3 16 return json;
sillevl 6:414e1fea64f3 17 }
sillevl 6:414e1fea64f3 18
sillevl 6:414e1fea64f3 19 void printJson(MbedJSONValue* json)
sillevl 6:414e1fea64f3 20 {
sillevl 6:414e1fea64f3 21 pc.printf("%s\n", json->serialize().c_str());
sillevl 6:414e1fea64f3 22 }
sillevl 6:414e1fea64f3 23
sillevl 6:414e1fea64f3 24 void printTime(time_t seconds)
sillevl 6:414e1fea64f3 25 {
sillevl 6:414e1fea64f3 26 char buffer[32];
sillevl 6:414e1fea64f3 27 std::strftime(buffer, 32, "%d-%m-%Y %T", localtime(&seconds));
sillevl 6:414e1fea64f3 28 MbedJSONValue* jsonTime = jsonFactory();
sillevl 6:414e1fea64f3 29 (*jsonTime)["time"] = buffer;
sillevl 6:414e1fea64f3 30 printJson(jsonTime);
sillevl 6:414e1fea64f3 31 delete jsonTime;
sillevl 6:414e1fea64f3 32 }
sillevl 6:414e1fea64f3 33
sillevl 6:414e1fea64f3 34 void printDistance(m3dpi::Distance distance)
sillevl 6:414e1fea64f3 35 {
sillevl 6:414e1fea64f3 36 MbedJSONValue* json = jsonFactory();
sillevl 6:414e1fea64f3 37 const char property[] = "distance";
sillevl 6:414e1fea64f3 38
sillevl 6:414e1fea64f3 39 (*json)[property][0] = distance.front;
sillevl 6:414e1fea64f3 40 (*json)[property][1] = distance.front_right;
sillevl 6:414e1fea64f3 41 (*json)[property][2] = distance.right;
sillevl 6:414e1fea64f3 42 (*json)[property][3] = distance.back_right;
sillevl 6:414e1fea64f3 43 (*json)[property][4] = distance.back;
sillevl 6:414e1fea64f3 44 (*json)[property][5] = distance.back_left;
sillevl 6:414e1fea64f3 45 (*json)[property][6] = distance.left;
sillevl 6:414e1fea64f3 46 (*json)[property][7] = distance.front_left;
sillevl 6:414e1fea64f3 47
sillevl 6:414e1fea64f3 48 printJson(json);
sillevl 6:414e1fea64f3 49 delete json;
sillevl 6:414e1fea64f3 50 }
sillevl 6:414e1fea64f3 51
sillevl 6:414e1fea64f3 52 void printAcceleration(m3dpi::Acceleration acc)
sillevl 6:414e1fea64f3 53 {
sillevl 6:414e1fea64f3 54 MbedJSONValue* json = jsonFactory();
sillevl 6:414e1fea64f3 55 const char property[] = "acceleration";
sillevl 6:414e1fea64f3 56
sillevl 6:414e1fea64f3 57 (*json)[property]["x"] = acc.x;
sillevl 6:414e1fea64f3 58 (*json)[property]["y"] = acc.y;
sillevl 6:414e1fea64f3 59 (*json)[property]["z"] = acc.z;
sillevl 6:414e1fea64f3 60
sillevl 6:414e1fea64f3 61 printJson(json);
sillevl 6:414e1fea64f3 62 delete json;
sillevl 6:414e1fea64f3 63 }
sillevl 6:414e1fea64f3 64
sillevl 6:414e1fea64f3 65 void printDirection(m3dpi::Direction direction)
sillevl 6:414e1fea64f3 66 {
sillevl 6:414e1fea64f3 67 MbedJSONValue* json = jsonFactory();
sillevl 6:414e1fea64f3 68 const char property[] = "direction";
sillevl 6:414e1fea64f3 69
sillevl 6:414e1fea64f3 70 (*json)[property]["x"] = direction.x;
sillevl 6:414e1fea64f3 71 (*json)[property]["y"] = direction.y;
sillevl 6:414e1fea64f3 72 (*json)[property]["z"] = direction.z;
sillevl 6:414e1fea64f3 73
sillevl 6:414e1fea64f3 74 printJson(json);
sillevl 6:414e1fea64f3 75 delete json;
sillevl 6:414e1fea64f3 76 }
sillevl 6:414e1fea64f3 77
sillevl 6:414e1fea64f3 78 void printRotation(m3dpi::Rotation rotation)
sillevl 6:414e1fea64f3 79 {
sillevl 6:414e1fea64f3 80 MbedJSONValue* json = jsonFactory();
sillevl 6:414e1fea64f3 81 const char property[] = "rotation";
sillevl 6:414e1fea64f3 82
sillevl 6:414e1fea64f3 83 (*json)[property]["x"] = rotation.x;
sillevl 6:414e1fea64f3 84 (*json)[property]["y"] = rotation.y;
sillevl 6:414e1fea64f3 85 (*json)[property]["z"] = rotation.z;
sillevl 6:414e1fea64f3 86
sillevl 6:414e1fea64f3 87 printJson(json);
sillevl 6:414e1fea64f3 88 delete json;
sillevl 6:414e1fea64f3 89 }
sillevl 6:414e1fea64f3 90
sillevl 6:414e1fea64f3 91 void setLeds(m3dpi::Distance distance)
sillevl 6:414e1fea64f3 92 {
sillevl 6:414e1fea64f3 93 int colors[8] = {distance.front, distance.front_right, distance.right, distance.back_right, distance.back, distance.back_left, distance.left, distance.front_left};
sillevl 6:414e1fea64f3 94 // shift distance value to get red colors
sillevl 6:414e1fea64f3 95 for(int i = 0; i < 8; i++){
sillevl 6:414e1fea64f3 96 colors[i] = colors[i] << 16;
sillevl 6:414e1fea64f3 97 }
sillevl 6:414e1fea64f3 98 robot.setLeds(colors);
sillevl 6:414e1fea64f3 99 }
sillevl 6:414e1fea64f3 100
sillevl 6:414e1fea64f3 101 void readSensors()
sillevl 6:414e1fea64f3 102 {
sillevl 6:414e1fea64f3 103 m3dpi::Distance distance = robot.getDistance();
sillevl 6:414e1fea64f3 104
sillevl 6:414e1fea64f3 105 printDistance(distance);
sillevl 6:414e1fea64f3 106 printDirection(robot.getDirection());
sillevl 6:414e1fea64f3 107 printRotation(robot.getRotation());
sillevl 6:414e1fea64f3 108 printAcceleration(robot.getAcceleration());
sillevl 6:414e1fea64f3 109
sillevl 6:414e1fea64f3 110 printTime(robot.getTime());
sillevl 6:414e1fea64f3 111 setLeds(distance);
sillevl 6:414e1fea64f3 112 }
sillevl 0:ab0ce9ab81bf 113
sillevl 1:6f620263c9f8 114 int main()
sillevl 6:414e1fea64f3 115 {
sillevl 1:6f620263c9f8 116 pc.baud(115200);
sillevl 6:414e1fea64f3 117 robot.setStatus(Color::GREEN);
sillevl 1:6f620263c9f8 118
sillevl 6:414e1fea64f3 119 pc.printf("Device ID is: 0x%02x\n", robot.accelerometer.getDevId());
sillevl 6:414e1fea64f3 120 pc.printf("Gyro id: 0x%02x\n", robot.gyro.getWhoAmI());
sillevl 6:414e1fea64f3 121
sillevl 6:414e1fea64f3 122 tick.attach(&readSensors, 0.25);
sillevl 0:ab0ce9ab81bf 123
sillevl 1:6f620263c9f8 124 while(1) {
sillevl 1:6f620263c9f8 125
sillevl 1:6f620263c9f8 126 }
sillevl 0:ab0ce9ab81bf 127 }