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@7:9068fc754a0b, 2015-12-03 (annotated)

Committer:
sillevl
Date:
Thu Dec 03 17:53:04 2015 +0000
Revision:
7:9068fc754a0b
Parent:
6:414e1fea64f3
Child:
8:5c0833506d67
Child:
11:ccb8653e285f
add json reporter class

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sillevl 7:9068fc754a0b 1 #include "mbed.h"
sillevl 7:9068fc754a0b 2 #include "rtos.h"
sillevl 1:6f620263c9f8 3 #include "M3Dpi.h"
sillevl 7:9068fc754a0b 4 #include "jsonReporter.h"
sillevl 6:414e1fea64f3 5
sillevl 6:414e1fea64f3 6 const char M3DPI_ID[] = "1234567890";
sillevl 6:414e1fea64f3 7
sillevl 7:9068fc754a0b 8 M3Dpi robot;
sillevl 7:9068fc754a0b 9 Serial pc(USBTX,USBRX);
sillevl 7:9068fc754a0b 10 JsonReporter report(&pc, M3DPI_ID);
sillevl 6:414e1fea64f3 11
sillevl 6:414e1fea64f3 12
sillevl 6:414e1fea64f3 13 void setLeds(m3dpi::Distance distance)
sillevl 6:414e1fea64f3 14 {
sillevl 6:414e1fea64f3 15 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 16 // shift distance value to get red colors
sillevl 6:414e1fea64f3 17 for(int i = 0; i < 8; i++){
sillevl 6:414e1fea64f3 18 colors[i] = colors[i] << 16;
sillevl 6:414e1fea64f3 19 }
sillevl 6:414e1fea64f3 20 robot.setLeds(colors);
sillevl 6:414e1fea64f3 21 }
sillevl 6:414e1fea64f3 22
sillevl 7:9068fc754a0b 23 void read_sensors_thread(void const * args)
sillevl 6:414e1fea64f3 24 {
sillevl 7:9068fc754a0b 25 robot.setStatus(Color::GREEN);
sillevl 6:414e1fea64f3 26 m3dpi::Distance distance = robot.getDistance();
sillevl 7:9068fc754a0b 27 setLeds(distance);
sillevl 6:414e1fea64f3 28
sillevl 7:9068fc754a0b 29 report.distance(distance);
sillevl 7:9068fc754a0b 30 report.direction(robot.getDirection());
sillevl 7:9068fc754a0b 31 report.rotation(robot.getRotation());
sillevl 7:9068fc754a0b 32 report.acceleration(robot.getAcceleration());
sillevl 6:414e1fea64f3 33
sillevl 7:9068fc754a0b 34 report.time(robot.getTime());
sillevl 7:9068fc754a0b 35 robot.setStatus(Color::OFF);
sillevl 6:414e1fea64f3 36 }
sillevl 0:ab0ce9ab81bf 37
sillevl 1:6f620263c9f8 38 int main()
sillevl 6:414e1fea64f3 39 {
sillevl 1:6f620263c9f8 40 pc.baud(115200);
sillevl 7:9068fc754a0b 41
sillevl 7:9068fc754a0b 42 // for testing...
sillevl 6:414e1fea64f3 43 pc.printf("Device ID is: 0x%02x\n", robot.accelerometer.getDevId());
sillevl 6:414e1fea64f3 44 pc.printf("Gyro id: 0x%02x\n", robot.gyro.getWhoAmI());
sillevl 6:414e1fea64f3 45
sillevl 7:9068fc754a0b 46 RtosTimer periodicThread(read_sensors_thread, osTimerPeriodic);
sillevl 7:9068fc754a0b 47 periodicThread.start(50);
sillevl 0:ab0ce9ab81bf 48
sillevl 7:9068fc754a0b 49 Thread::wait(osWaitForever);
sillevl 0:ab0ce9ab81bf 50 }