Suyash Matoli
ECE 4180 Laser Tag
Dependencies: Motordriver mbed SDFileSystem mbed-rtos wave_player
Revision 1:6a78c0e371d5, committed 2016-04-30
- Comitter:
- suyash95
- Date:
- Sat Apr 30 19:07:07 2016 +0000
- Parent:
- 0:4953f3704bb8
- Commit message:
- ECE 4180 Final Project - mbed robot laser tag
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SDFileSystem.lib Sat Apr 30 19:07:07 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/SDFileSystem/#c8f66dc765d4
--- a/main.cpp Thu Apr 14 15:25:03 2016 +0000
+++ b/main.cpp Sat Apr 30 19:07:07 2016 +0000
@@ -1,19 +1,35 @@
#include "mbed.h"
#include "motordriver.h"
+#include "SDFileSystem.h"
+#include "wave_player.h"
#include "Speaker.h"
+#include "rtos.h"
Motor m1(p22, p6, p5, 1); // pwm, fwd, rev, can brake left most motor (a)
Motor m2(p23, p7, p8, 1); //right most motor (b)
-Speaker mySpeaker(p21);
-Serial blue(p13,p14);
+SDFileSystem sd(p11, p12, p13, p14, "sd"); // the pinout on the mbed Cool Components workshop board
+AnalogOut DACout(p18); //set up analog out
+wave_player waver(&DACout); //set up wave_player, with DACout as input to the funciton
+Serial blue(p9,p10); //used p13 and p14 before
-DigitalOut reset(p26);
+//instantiate Ins and Outs
+InterruptIn detector(p25);
DigitalOut led1(LED1);
DigitalOut led2(LED2);
DigitalOut led3(LED3);
DigitalOut led4(LED4);
+DigitalOut laser(p20);
+DigitalIn shot(p26);
-int main() {
- while(1) {
+
+volatile bool laserstate = false;
+volatile bool downstate = false;
+
+void gothit_isr() { // runs when robot gets shot
+ downstate = true;
+}
+//thread deals with shooting/movement (communication with bluetooth chip)
+void movement_thread(void const *args) {
+ while(1) {
char bnum=0;
char bhit=0;
if (blue.getc()=='!') {
@@ -24,73 +40,74 @@
switch (bnum) {
case '1': //number button 1
if (bhit=='1') {
- led1 = 1;//add hit code here
+ //led1 = 1;
} else {
- led1 = 0;//add release code here
+ //led1 = 0;
}
break;
case '2': //number button 2
if (bhit=='1') {
- led2 = 1;//add hit code here
+ // led2 = 1;
} else {
- led2 = 0;//add release code here
+ // led2 = 0;
}
break;
case '3': //number button 3
if (bhit=='1') {
- led3 = 1;//add hit code here
+ // led3 = 1;
} else {
- led3 = 0;//add release code here
+ // led3 = 0;
}
break;
case '4': //number button 4
if (bhit=='1') {
- led4 = 1;//add hit code here
+ // led4 = 1;
} else {
- led4 = 0;//add release code here
+ //led4 = 0;
}
break;
case '5': //button 5 up arrow
if (bhit=='1') {
- m1.speed(1.0);
- m2.speed(1.0);
+ //move robot forward when up button is pressed
+ m1.speed(0.95);
+ m2.speed(0.95);
} else {
+ //stop robot when button is released
m1.speed(0.0);
m2.speed(0.0);
- //add release code here
}
break;
case '6': //button 6 down arrow
if (bhit=='1') {
- //add hit code here
- m1.speed(-1.0);
- m2.speed(-1.0);
+ //move robot backward when down button is pressed
+ m1.speed(-0.95);
+ m2.speed(-0.95);
} else {
+ //stop robot when button is released
m1.speed(0.0);
m2.speed(0.0);
- //add release code here
}
break;
case '7': //button 7 left arrow
if (bhit=='1') {
- m1.speed(-1.0);
- m2.speed(1.0);
- //add hit code here
+ //move robot to the left by rotating both wheels when left button is pressed
+ m1.speed(-0.75);
+ m2.speed(0.75);
} else {
+ //stop robot when button is released
m1.speed(0.0);
m2.speed(0.0);
- //add release code here
}
break;
case '8': //button 8 right arrow
if (bhit=='1') {
- //add hit code here
- m1.speed(1.0);
- m2.speed(-1.0);
+ //move robot to the right by rotating both wheels when right button is pressed
+ m1.speed(0.75);
+ m2.speed(-0.75);
} else {
+ //stop robot when button is released
m1.speed(0.0);
m2.speed(0.0);
- //add release code here
}
break;
default:
@@ -99,5 +116,37 @@
}
}
}
+ Thread::yield();
+ }
+
+}
+
+int main() {
+ // main() handles the shooting and getting shot
+ Thread thread(movement_thread);
+ detector.rise(&gothit_isr); // rising edge interrupt, used to see if robot got hit
+ while(1) {
+ if(shot ==1){
+ led4 =1; //turn led4 on if robot got shot
+ }
+ else{
+ led4 =0;
+ }
+ if (downstate) { // robot got hit
+ led1 = 1; //turn led1 if robot gets hit
+ Thread::wait(3000); // movement_thread loops meanwhile, allowing for robot to still move when shot
+ laserstate = false; // resets laser so that laser cannot shoot
+ downstate = false; //resets downstate so that robot can be hit again
+ led1 =0;
+ }
+ if (laserstate) { // robot is shooting
+ led2 = 1; //led2 turns on when shooting
+ laser = 1;
+ Thread::wait(250); // movement_thread loops meanwhile
+ laserstate = false;
+ laser = 0;
+ led2 = 0;
+ }
+ Thread::yield(); // movement_thread runs once
}
}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-rtos.lib Sat Apr 30 19:07:07 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed-rtos/#bdd541595fc5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/wave_player.lib Sat Apr 30 19:07:07 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/sravet/code/wave_player/#acc3e18e77ad