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@11:ccb8653e285f, 2015-12-19 (annotated)

Committer:
sillevl
Date:
Sat Dec 19 13:28:17 2015 +0000
Revision:
11:ccb8653e285f
Parent:
7:9068fc754a0b
Child:
13:d6374484b953
add reporter interface

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sillevl 7:9068fc754a0b 1 #include "mbed.h"
sillevl 1:6f620263c9f8 2 #include "M3Dpi.h"
sillevl 7:9068fc754a0b 3 #include "jsonReporter.h"
sillevl 6:414e1fea64f3 4
sillevl 6:414e1fea64f3 5 const char M3DPI_ID[] = "1234567890";
sillevl 6:414e1fea64f3 6
sillevl 7:9068fc754a0b 7 M3Dpi robot;
sillevl 7:9068fc754a0b 8 Serial pc(USBTX,USBRX);
sillevl 11:ccb8653e285f 9 Reporter* report = new JsonReporter(&pc, M3DPI_ID);
sillevl 11:ccb8653e285f 10
sillevl 11:ccb8653e285f 11 m3dpi::Distance distance;
sillevl 11:ccb8653e285f 12 m3dpi::Direction direction;
sillevl 11:ccb8653e285f 13 m3dpi::Rotation rotation;
sillevl 11:ccb8653e285f 14 m3dpi::Acceleration acceleration;
sillevl 6:414e1fea64f3 15
sillevl 6:414e1fea64f3 16
sillevl 6:414e1fea64f3 17 void setLeds(m3dpi::Distance distance)
sillevl 6:414e1fea64f3 18 {
sillevl 6:414e1fea64f3 19 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 20 // shift distance value to get red colors
sillevl 6:414e1fea64f3 21 for(int i = 0; i < 8; i++){
sillevl 6:414e1fea64f3 22 colors[i] = colors[i] << 16;
sillevl 6:414e1fea64f3 23 }
sillevl 6:414e1fea64f3 24 robot.setLeds(colors);
sillevl 6:414e1fea64f3 25 }
sillevl 6:414e1fea64f3 26
sillevl 11:ccb8653e285f 27 void read_sensors_thread()
sillevl 6:414e1fea64f3 28 {
sillevl 7:9068fc754a0b 29 robot.setStatus(Color::GREEN);
sillevl 11:ccb8653e285f 30 ::distance = robot.getDistance();
sillevl 11:ccb8653e285f 31 direction = robot.getDirection();
sillevl 11:ccb8653e285f 32 rotation = robot.getRotation();
sillevl 11:ccb8653e285f 33 acceleration = robot.getAcceleration();
sillevl 11:ccb8653e285f 34 setLeds(::distance);
sillevl 11:ccb8653e285f 35 robot.setStatus(Color::BLACK);
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 11:ccb8653e285f 41
sillevl 11:ccb8653e285f 42 while(true){
sillevl 11:ccb8653e285f 43 read_sensors_thread();
sillevl 11:ccb8653e285f 44 report->distance(::distance);
sillevl 11:ccb8653e285f 45 report->direction(direction);
sillevl 11:ccb8653e285f 46 report->rotation(rotation);
sillevl 11:ccb8653e285f 47 report->acceleration(acceleration);
sillevl 11:ccb8653e285f 48 //pc.printf("report send time: %d us\n", t.read_us());
sillevl 11:ccb8653e285f 49 //report.time(robot.getTime());
sillevl 11:ccb8653e285f 50 wait_ms(500);
sillevl 11:ccb8653e285f 51 }
sillevl 0:ab0ce9ab81bf 52 }