Creating Remote Spy Bot

Page last updated 26 Nov 2019, by Sriharsha Singam. 0 replies

Quote:

This is a project for the Georgia Tech class ECE 4180 (Embedded Systems Design) with Dr. Hamblen.

Team Members:

  • Landon Ballard
  • Alex Jostar
  • Sriharsha Singam

Parts Used:

  • Mbed LPC1768
  • Raspberry Pi 4
  • Xbox or Playstation Remote Controller
  • Bluetooth Module HC-06
  • Class D Audio Amp
  • Couple of LEDs
  • Lidar VL53L0X
  • H-Bridge

Pin Outs:

Raspberry Pi 4

Raspberry Pi 4Logitech Web Camera
Usb PortUsb Camera Cable

Bluetooth Module HC-06

MbedHC-06
Vu (5V)VCC
GNDGND
p14Tx
p13Rx

Note:
*The C# program connects to a COM port opened by the HC-06 chip.
*Default pin to pair the HC-06 is 1234.
*The C# program uses default windows libraries.
*Sends data as character strings.

Class D Audio Amp

MbedClass-D Audio AmpBattery
p5S (pull low with 180ohm)
p23ln+
GNDln-
PWR+5v from voltage regulator on batteries
GNDPWR-
Spkr+Out+
Spkr-Out-

Lidar VL53L0X

MbedVL53L0X
p28SDA
p27SCL
p26shdn
Vout(3.3V)VCC
GNDGND

H-Bridge

MbedH-BridgeMotorsBattery
VMBatteries + (6V from the AA battery pack)
Vout(3.3V)VCC
GNDAll GNDs
A01Black on Right Motor
A02Red on Right Motor
B01Black on Left Motor
B02Red on Left Motor
p21PWMA
p8AI1
p7AI2
Pull high to Vout(3.3V) with a 180ohm resistorSTBY
p9BI1
p10BI2
p22PWMB

LEDs

MbedLEDs Purpose
GNDAll GNDs
p15Green 1
p16Green 2
p18Red 1
p19Red 2

MBED Side of the Code

#include "mbed.h"
#include "Motor.h"
#include "XNucleo53L0A1.h"

#define VL53L0_I2C_SDA   p28 // To be changed based on Pins
#define VL53L0_I2C_SCL   p27 // To be changed based on Pins
DigitalOut shdn(p26);

Motor lm(p21, p7, p8); // pwm, fwd, rev
Motor rm(p22, p6, p10); // pwm, fwd, rev
//BusOut myled(LED1,LED2,LED3,LED4);
Serial BT(p13,p14);
Serial pc(USBTX,USBRX);
BusOut led(p15,p16,p19,p18);
PwmOut spkr(p23);
DigitalOut spkrenable(p5);

static XNucleo53L0A1 *board=NULL;
bool stopMotor = false;
bool turbo = false;

float getSpeed(char& value) {

    float ones, tens = 0, hundreds, n2, n3, dot;

    dot = BT.getc();
    n2 = BT.getc();
    n3 = BT.getc();

    ones = (float)(value -'0');

    tens = (float)(n2 -'0');
    tens = tens / 10.00;

    hundreds = (float)(n3 - '0');
    hundreds = hundreds/100.00;

    return (ones + tens + hundreds);
}

void setMotorSpeed(Motor* motor, float mspeed) {
if(mspeed <= 1.0){
    if(abs(mspeed) > 0.2 && !stopMotor || mspeed > .2){
        pc.printf("%0.2f is the motor speed\n\r", mspeed);
        if(turbo)
        motor->speed(mspeed);
        if(!turbo)
        motor->speed(mspeed/1.25);
        }
    else
        motor->speed(0);
}
}
void btMotorUpdate(Motor* motor) {

    char PlusMinus = BT.getc();

    if(PlusMinus == '-'){
        char n1 = BT.getc();
        setMotorSpeed(motor, -(getSpeed(n1)));

    } else {
        setMotorSpeed(motor, getSpeed(PlusMinus));

    }
}

void btSerialInterrupt() {

    char LRABYX = BT.getc();

    if(LRABYX == 'L'){
        btMotorUpdate(&lm);
    }
    if(LRABYX == 'R') {
        btMotorUpdate(&rm);
    }
    if(LRABYX == 'A') {
        turbo = true;
        }  
    if(LRABYX == 'B') {
        turbo = false;
        }  
   
}


int main() {

     DevI2C *device_i2c = new DevI2C(VL53L0_I2C_SDA, VL53L0_I2C_SCL);
     board = XNucleo53L0A1::instance(device_i2c, A2, D8, D2);
     uint32_t distance;
     shdn = 0; //must reset sensor for an mbed reset to work
     wait(0.1);
     shdn = 1;
     wait(0.1);

    /* init the 53L0A1 board with default values */
    int status = board->init_board();
    while (status) {
        status = board->init_board();
    }

    BT.attach(&btSerialInterrupt);
    lm.speed(0);
    rm.speed(0);
    led.write(0);
    spkrenable = 0;
    

    while (1) {
        status = board->sensor_centre->get_distance(&distance);
        if (status == VL53L0X_ERROR_NONE) {
            pc.printf("%d\n\r",distance);
            
            if (distance < 300) { // Distance might need to be adjusted
                stopMotor = true;
                led.write(15*!led.read());
                spkrenable = 1;
                spkr = .5;
                wait(.1); 
                spkr = 0;   
                spkrenable = 0;
                }
            else{
                stopMotor = false;
                
                led.write(0);
                }
                
            
                // Any Lighting or Sound Effects for Crash Detection
            
        }
    }

}

C# Windows Program Side of the Code that Connects to an Xbox Controller

using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Diagnostics;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
using Windows.Gaming.Input;

namespace xboxController
{
    public partial class Form1 : Form
    {
        Gamepad Controller;
        Timer t = new Timer();
        


        public Form1()
        {
            
            InitializeComponent();
            serialPort1.Open();
            openit("http://192.168.43.48:8090/test.mjpg");
            Gamepad.GamepadAdded += Gamepad_GamepadAdded;
            Gamepad.GamepadRemoved += Gamepad_GamepadRemoved;
            t.Tick += T_Tick;
            t.Interval = 50;
            t.Start();
            
        }
        private void T_Tick(object sender, EventArgs e)
        {
            if(Gamepad.Gamepads.Count > 0)
            {
                Controller = Gamepad.Gamepads.First();
                var Reading = Controller.GetCurrentReading();
                double LY = -Reading.LeftThumbstickY;
                //double LX = Reading.LeftThumbstickX;
                double RY = -Reading.RightThumbstickY;
                //double RX = Reading.RightThumbstickX;
                //double RT = Reading.RightTrigger;
                //double LT = Reading.LeftTrigger;
                serialPort1.Write("L" + RY.ToString("0.00"));
                serialPort1.Write("R" + LY.ToString("0.00"));
                

                switch (Reading.Buttons)
                {
                    case GamepadButtons.A:
                        serialPort1.Write("A");
                        break;
                    case GamepadButtons.B:
                        serialPort1.Write("B");
                        break;

                }
                    Debug.WriteLine("R" + LY.ToString("0.00"));
                    Debug.WriteLine("L" + RY.ToString("0.00"));

            


            }
        }
        private async void Gamepad_GamepadRemoved(object sender, Gamepad e)
        {
            await Log("Controller Removed");
        }

        private async void Gamepad_GamepadAdded(object sender, Gamepad e)
        {
            await Log("Controller Added");
        }
        private async Task Log(string txt)
        {
            Task t = Task.Run(() =>
            {
                Debug.WriteLine(DateTime.Now.ToShortTimeString() + ":" + txt);
            });
            await t;
        }

        private void Form1_Load(object sender, EventArgs e)
        {

        }

        public static void openit(string x)
        {
            System.Diagnostics.Process.Start("cmd", "/C start" + " " + x);
        }
    }
}

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