main.cpp

00001 #include "mbed.h"
00002 #include "motordriver.h"
00003 #include "SDFileSystem.h"
00004 #include "wave_player.h"
00005 #include "Speaker.h"
00006 #include "rtos.h"
00007 Motor m1(p22, p6, p5, 1); // pwm, fwd, rev, can brake left most motor (a)
00008 Motor m2(p23, p7, p8, 1); //right most motor (b)
00009 SDFileSystem sd(p11, p12, p13, p14, "sd"); // the pinout on the mbed Cool Components workshop board
00010 AnalogOut DACout(p18); //set up analog out
00011 wave_player waver(&DACout); //set up wave_player, with DACout as input to the funciton
00012 Serial blue(p9,p10); //used p13 and p14 before
00013 
00014 //instantiate Ins and Outs
00015 InterruptIn detector(p25);
00016 DigitalOut led1(LED1);
00017 DigitalOut led2(LED2);
00018 DigitalOut led3(LED3);
00019 DigitalOut led4(LED4);
00020 DigitalOut laser(p20);
00021 DigitalIn shot(p26);
00022 
00023 
00024 volatile bool laserstate = false;
00025 volatile bool downstate = false;
00026 
00027 void gothit_isr() { // runs when robot gets shot
00028     downstate = true;
00029 }
00030 //thread deals with shooting/movement (communication with bluetooth chip)
00031 void movement_thread(void const *args) {
00032      while(1) {
00033         char bnum=0;
00034         char bhit=0;
00035         if (blue.getc()=='!') {
00036             if (blue.getc()=='B') { //button data packet
00037                 bnum = blue.getc(); //button number
00038                 bhit = blue.getc(); //1=hit, 0=release
00039                 if (blue.getc()==char(~('!' + 'B' + bnum + bhit))) { //checksum OK?
00040                     switch (bnum) {
00041                         case '1': //number button 1
00042                             if (bhit=='1') {
00043                                 //led1 = 1;
00044                             } else {
00045                                 //led1 = 0;
00046                             }
00047                             break;
00048                         case '2': //number button 2
00049                             if (bhit=='1') {
00050                                // led2 = 1;
00051                             } else {
00052                                // led2 = 0;
00053                             }
00054                             break;
00055                         case '3': //number button 3
00056                             if (bhit=='1') {
00057                                // led3 = 1;
00058                             } else {
00059                                // led3 = 0;
00060                             }
00061                             break;
00062                         case '4': //number button 4
00063                             if (bhit=='1') {
00064                                // led4 = 1;
00065                             } else {
00066                                 //led4 = 0;
00067                             }
00068                             break;
00069                         case '5': //button 5 up arrow
00070                             if (bhit=='1') {
00071                                 //move robot forward when up button is pressed
00072                                 m1.speed(0.95);
00073                                 m2.speed(0.95);      
00074                             } else {
00075                                 //stop robot when button is released
00076                                 m1.speed(0.0);
00077                                 m2.speed(0.0);
00078                             }
00079                             break;
00080                         case '6': //button 6 down arrow
00081                             if (bhit=='1') {
00082                                 //move robot backward when down button is pressed
00083                                 m1.speed(-0.95);
00084                                 m2.speed(-0.95);
00085                             } else {
00086                                 //stop robot when button is released
00087                                 m1.speed(0.0);
00088                                 m2.speed(0.0);
00089                             }
00090                             break;
00091                         case '7': //button 7 left arrow
00092                             if (bhit=='1') {
00093                                 //move robot to the left by rotating both wheels when left button is pressed
00094                                 m1.speed(-0.75);
00095                                 m2.speed(0.75);
00096                             } else {
00097                                 //stop robot when button is released
00098                                 m1.speed(0.0);
00099                                 m2.speed(0.0);
00100                             }
00101                             break;
00102                         case '8': //button 8 right arrow
00103                             if (bhit=='1') {
00104                                 //move robot to the right by rotating both wheels when right button is pressed
00105                                 m1.speed(0.75);
00106                                 m2.speed(-0.75);
00107                             } else {
00108                                 //stop robot when button is released
00109                                 m1.speed(0.0);
00110                                 m2.speed(0.0);
00111                             }
00112                             break;
00113                         default:
00114                             break;
00115                     }
00116                 }
00117             }
00118         }
00119         Thread::yield();
00120     }
00121     
00122 }
00123 
00124 int main() {
00125     // main() handles the shooting and getting shot
00126     Thread thread(movement_thread);
00127     detector.rise(&gothit_isr); // rising edge interrupt, used to see if robot got hit
00128     while(1) {
00129         if(shot ==1){
00130             led4 =1; //turn led4 on if robot got shot
00131         }
00132         else{
00133             led4 =0;
00134             }
00135         if (downstate) { // robot got hit
00136             led1 = 1; //turn led1 if robot gets hit
00137             Thread::wait(3000); // movement_thread loops meanwhile, allowing for robot to still move when shot
00138             laserstate = false; // resets laser so that laser cannot shoot
00139             downstate = false; //resets downstate so that robot can be hit again
00140             led1 =0;
00141             }
00142         if (laserstate) { // robot is shooting
00143             led2 = 1; //led2 turns on when shooting
00144             laser = 1;
00145             Thread::wait(250); // movement_thread loops meanwhile
00146             laserstate = false;
00147             laser = 0;
00148             led2 = 0;
00149             }
00150         Thread::yield(); // movement_thread runs once
00151     }
00152 }