Revision 8:597ce8a7d34b, committed 2015-06-01

Comitter:

sillevl

Date:

Mon Jun 01 14:47:32 2015 +0000

Parent:

7:a72215b1910b

Child:

9:0385d1bfc38b

Commit message:

Added support for start/stop via Xbee

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MbedJSONValue.lib	Mon Jun 01 14:47:32 2015 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/samux/code/MbedJSONValue/#10a99cdf7846

--- a/mbed.bld	Wed Feb 25 15:56:14 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-http://mbed.org/users/mbed_official/code/mbed/builds/9ad691361fac
\ No newline at end of file

--- a/racing_robots.cpp	Wed Feb 25 15:56:14 2015 +0000
+++ b/racing_robots.cpp	Mon Jun 01 14:47:32 2015 +0000
@@ -10,8 +10,12 @@
  */
 void _init(void) {
     // DO our init here
-
     init(); // Students init
+#ifdef XBBE
+    if(!xbee.hasCode()){
+        error("no unique code is set when using Xbee for start/stop");
+    }
+#endif
 }
 
 /*

--- a/robot_logic.cpp	Wed Feb 25 15:56:14 2015 +0000
+++ b/robot_logic.cpp	Mon Jun 01 14:47:32 2015 +0000
@@ -1,4 +1,5 @@
 #include "robot_logic.h"
+#include "xbee.h"
 
 // Some defines
 #define MAX_SPEED 100
@@ -10,6 +11,10 @@
 // Static scope variables
 static m3pi m3pi;
 
+#ifdef XBEE
+Xbee xbee(p28, p27);
+#endif
+
 // Static scope variables for keeping internal state
 static int internal_speed = 0;          // [-100, +100]
 static int internal_turnspeed = 0;     // [-100, +100]
@@ -28,7 +33,7 @@
 
     internal_speed = speed;
 
-    if (speed == 0) {
+    if (speed == 0 || !canDrive()) {
         m3pi.stop();
     } else if (speed > 0) {
         m3pi.forward(MAX_REAL_SPEED*speed/MAX_SPEED);
@@ -60,6 +65,11 @@
         left = MIN;
     else if (left > MAX_SPEED)
         left = MAX_SPEED;
+
+    if(!canDrive()){
+        left = right = 0;
+    }
+
     m3pi.left_motor(MAX_REAL_SPEED*left/MAX_SPEED);
     m3pi.right_motor(MAX_REAL_SPEED*right/MAX_SPEED);
 }
@@ -160,4 +170,20 @@
         error("Illegal LED state");
     }
     m3pi.leds(internal_led_state);
+}
+
+int canDrive()
+{
+#ifdef XBEE
+    return !xbee.stopped();
+#endif
+    return true;  
+}
+
+
+void setCode(int code)
+{
+#ifdef XBEE
+    xbee.setCode(code);    
+#endif
 }
\ No newline at end of file

--- a/robot_logic.h	Wed Feb 25 15:56:14 2015 +0000
+++ b/robot_logic.h	Mon Jun 01 14:47:32 2015 +0000
@@ -109,4 +109,18 @@
  */
 void await(int milliseconds);
 
+/**
+ * If using Xbee to start/stop the robot, you can set a unique code to prevent starting or stopping other robots
+ *
+ * @param code A number between 0 and 1000.
+ */
+void setCode(int code);
+
+/**
+ * Use this method if you need to know if something (eg: Xbee) is preventing the robot from driving
+ * 
+ * @return Boolean true if the robot can drive, false if the robot cannot drive
+ */
+int canDrive();
+
 #endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/xbee.cpp	Mon Jun 01 14:47:32 2015 +0000
@@ -0,0 +1,77 @@
+#include "xbee.h"
+#include "MbedJSONValue.h"
+
+Xbee::Xbee(PinName tx, PinName rx){
+    xbee = new Serial(tx, rx);
+    xbee->baud(115200);
+    xbee->attach(this, &Xbee::received, Serial::RxIrq);
+    run = false;
+    printf("xbee constructor\r\n");
+    rst = new DigitalOut(p26);
+    reset();
+    setCode(-1);
+}
+
+void Xbee::reset(){
+    rst->write(0);
+    wait_ms(1);
+    rst->write(1);
+    wait_ms(1);
+}
+
+void Xbee::setCode(int code){
+    if( code >= 0 && code < 1000){
+        error("Code must be between 0 and 999."); 
+    }   
+    this->code = code;
+}
+
+int Xbee::hasCode(){
+    return code != -1;
+}
+
+int Xbee::running(){
+    return run;
+}
+
+int Xbee::stopped(){
+    return !running();
+}
+
+void Xbee::received(){
+    char c;
+    while(xbee->readable()){
+        c = xbee->getc();
+        putc(c, stdout);
+        buffer[buffer_pos] = c;
+        buffer_pos++;
+        if(c == '\n'){
+            buffer[buffer_pos] = '\0';
+            
+            printf("buffer: %s\r\n", buffer);
+
+            buffer_pos = 0;
+            MbedJSONValue json;
+            parse(json, buffer);
+            
+            int code = -1;
+            if(json.hasMember("start")){
+                code = json["start"].get<int>();
+            } else if(json.hasMember("stop")){
+                code = json["stop"].get<int>();
+            } else {
+                break;   
+            }
+            
+            printf("code: %d\r\n", code);
+
+            if(json.hasMember("start") && code == this->code){
+                run = true;   
+                printf("start\r\n");
+            } else if(code == this->code){
+                run = false;
+                printf("stop\r\n");
+            }   
+        }
+    }
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/xbee.h	Mon Jun 01 14:47:32 2015 +0000
@@ -0,0 +1,32 @@
+#ifndef XBEE_H
+#define XBEE_H
+
+#include "mbed.h"
+
+class Xbee{
+    
+    public:
+    Xbee(PinName tx, PinName rx);
+    int running();
+    int stopped();
+    void setCode(int code);
+    int hasCode();
+    
+    protected:
+    Serial* xbee;
+    void received();
+    
+    private:
+    int run;
+    int code;
+    
+    int buffer_pos;
+    char buffer[256];
+    
+    void reset();
+    DigitalOut* rst;
+    
+};
+
+
+#endif
\ No newline at end of file