Diff: main.cpp

Revision:

0:40ade1a5d2b4

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat Aug 19 04:28:25 2017 +0000
@@ -0,0 +1,281 @@
+ /* mbed Microcontroller Library
+ * Copyright (c) 2006-2013 ARM Limited
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "mbed.h"
+#include "ble/BLE.h"
+#include "ble/services/UARTService.h"
+
+DigitalOut  led1(p7);
+DigitalOut  motorleft_A(p28); //Motor left
+PwmOut  motorleft_B(p25); //
+PwmOut  motorright_A(p24); //Motor right
+DigitalOut  motorright_B(p23); //
+DigitalOut  Relay_3A(p22); //Motor skill Q (may bao)
+DigitalOut  Relay_3B(p21); //
+DigitalOut  kichdien(p9);  //relay ac inverter 12DC -220AC
+DigitalOut  kichdienB(p16); //
+//DigitalOut  kichdien(p17);  //
+//DigitalOut  Relay_2(p18);  //
+//DigitalOut  Relay_3(p19);  //
+//DigitalOut  Relay_4(p20);  //
+
+Serial      pc(p10, p11);
+BLEDevice   ble;
+UARTService *uartServicePtr;
+
+//// Other
+#define     ON          0
+#define     OFF         1
+uint8_t g_cmd;
+uint8_t chieu_maybao=0; //xac dinh chieu may bao
+uint8_t status_maybao=1;
+uint8_t reversion=0;  //state of robot( reverse or not reverse)
+////////////////////////////////////////////////////////////////////
+void disconnectionCallback(const Gap::DisconnectionCallbackParams_t *params)
+{
+    ble.startAdvertising();  //gửi gói tin quảng bá
+    pc.printf("\n\r# disconnected\n\r");
+    led1 = 0;  //led off when disconnected
+    ////xoay tron va bat vu khi khi mat ket noi
+//    motorleft_A = 1;  //Motor left go up
+//    motorleft_B = 0;  //
+//    motorright_A = 0;  //Motor right go down
+//    motorright_B = 1;  //
+//    Relay_3A = 0;
+//    Relay_3B = 1;
+    
+}
+
+void connectionCallback( const Gap::ConnectionCallbackParams_t *params ) {
+    pc.printf("\n\r# connected\n\r");
+    led1 = 1;  //led on when connected
+}
+void onDataWritten(const GattWriteCallbackParams *params)
+{
+    if ((uartServicePtr != NULL) && (params->handle == uartServicePtr->getTXCharacteristicHandle())) {
+        uint16_t bytesRead = params->len;
+        g_cmd = params->data[0];
+        ble.updateCharacteristicValue(uartServicePtr->getRXCharacteristicHandle(), params->data, bytesRead);  //update status to server
+    }
+}
+
+/////////////////////////////////////////////////////////////////////
+void periodicCallback(void)
+{
+   // led1 = !led1;
+}
+//////////////////////////////////////////////////////////////////////
+void up(void)       //su dung motor 1 & 2
+{
+    motorleft_A = 0; //motor left go down
+    motorleft_B.write (0.7); //
+    motorright_A.write(0); //motor right do down
+    motorright_B = 1; //
+    pc.printf("\n\r# go up\n\r");
+}
+void down(void)     //su dung motor 1 & 2
+{
+    motorleft_A = 1; //motor left go up
+    motorleft_B.write(0.3); //
+    motorright_A.write(1); //motor right go up
+    motorright_B = 0; //
+    pc.printf("\n\r# go down\n\r");
+}
+void left(void)     //su dung motor 1 & 2
+{
+    motorleft_A = 1;  //Motor left go down
+    motorleft_B = 0;  //
+    motorright_A = 0;  //Motor right go up
+    motorright_B = 1;  //
+    pc.printf("\n\r# turn left\n\r");
+}
+void right(void)    //su dung motor 1 & 2
+{
+    motorleft_A = 0;  //Motor left go up
+    motorleft_B = 1;  //
+    motorright_A = 1;  //Motor right go down
+    motorright_B = 0;  //
+    pc.printf("\n\r# turn right\n\r");
+}
+void stop(void)    //su dung motor 1 & 2
+{
+    motorleft_A = 1;
+    motorleft_B = 1;
+    motorright_A = 1;
+    motorright_B = 1;
+    pc.printf("\n\r# stop\n\r");
+}
+/////////////////////////////////////////
+void skillQ(void)  //turn round down
+{
+    status_maybao = !status_maybao;  //dao trang thai may bao
+    if(status_maybao == 0)    //may bao on
+    {
+         if(chieu_maybao == 1)
+         {
+            Relay_3A = 0;  //turn round down maybao
+            Relay_3B = 1;
+            pc.printf("\n\r# turn round down maybao\n\r");
+         }  
+         else if(chieu_maybao == 0)
+         {
+            Relay_3A = 1;  //turn round down maybao
+            Relay_3B = 0;
+            pc.printf("\n\r# turn round up maybao\n\r");
+         }
+    }
+    else if(status_maybao == 1)  //may bao off
+    {
+        Relay_3A = 1;  //turn round down maybao
+        Relay_3B = 1;
+        pc.printf("\n\r# turn off maybao\n\r");
+    }
+}
+void skillE(void)   //quay tron+turn on may bao
+{
+    motorleft_A = 1;  //Motor left go up
+    motorleft_B = 0;  //
+    motorright_A = 0;  //Motor right go down
+    motorright_B = 1;  //
+    Relay_3A = 0;  //turn round down maybao
+    Relay_3B = 1;  
+    pc.printf("\n\r# turn on skill E\n\r");
+}
+void offskillE(void)
+{
+    motorleft_A = 1;  //Motor left go up
+    motorleft_B = 1;  //
+    motorright_A = 1;  //Motor right go down
+    motorright_B = 1;  //
+    Relay_3A = 1;  //turn round down maybao
+    Relay_3B = 1;  
+    pc.printf("\n\r turn off skill E\n\r");
+}
+void skillR(void)
+{
+   pc.printf("\n\r#turn on skill R\n\r"); 
+   motorleft_A = 0;
+    motorleft_B = 1;
+    motorright_A = 1;
+    motorright_B = 0;
+    wait(0.9);
+    motorleft_A = 1;
+    motorleft_B = 0;
+    motorright_A = 1;
+    motorright_B = 0;
+    wait(1.2);
+    motorleft_A = 1;
+    motorleft_B = 1;
+    motorright_A = 1;
+    motorright_B = 1;
+    wait(0.1);
+    motorleft_A = 0;
+    motorleft_B = 1;
+    motorright_A = 0;
+    motorright_B = 1;
+}
+void offskillR(void)
+{
+    pc.printf("\n\r#turn off skill R\n\r");
+    
+}
+
+//////////////////////////////////////////////////////////////////////
+int main(void)
+{
+    //Init hardware
+    led1 = 0;
+    motorleft_A = 1;
+    motorleft_B.period(0.01);
+    motorright_A.period(0.01);
+    motorleft_B.write(1);
+    motorright_A.write(1);
+    motorright_B = 1;
+    Relay_3A = 1;
+    Relay_3B = 1;
+    kichdien = 1;
+    kichdienB = 1;
+    //Init UART
+    pc.baud(115200);
+    pc.printf("\n\r# BOT_BATTLE\n\r");
+    //Init timer
+    Ticker ticker;
+    ticker.attach(periodicCallback, 0.1); //sec
+    //Init BLE
+    ble.init();  //start ble driver
+    ble.onConnection(connectionCallback);   //callback when connected
+    ble.onDisconnection(disconnectionCallback);   //callback when disconnected
+    ble.onDataWritten(onDataWritten);   //callback when receive data
+    /* setup advertising */
+    ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED);     //chế độ hoạt động BLE (only le peripheral)
+    ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);      // có khả năng kêt nối vô hướng
+    ble.accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME,                      //tên thiết bị ble peripheral 
+                                     (const uint8_t *)"GAREN", sizeof("TAO LA DUNG") - 1);      //
+    ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS,
+                                     (const uint8_t *)UARTServiceUUID_reversed, sizeof(UARTServiceUUID_reversed)); //UUID service
+    ble.setAdvertisingInterval(200); /* 1000ms; in multiples of 0.625ms. */
+    ble.startAdvertising();
+    UARTService uartService(ble);
+    uartServicePtr = &uartService;
+
+while (true) {
+        ble.waitForEvent();
+////////////////motion////////////////////////
+        if     (g_cmd == 1) {
+            if(reversion == 0)  //if bot isn't reversed
+                up();           
+            else down();      }  //go down when bot is reversed
+        else if(g_cmd == 2) {
+            if(reversion == 0)
+                left();
+            else right();    }
+        else if(g_cmd == 3) {
+            if(reversion == 0)
+                down();
+            else up();    }
+        else if(g_cmd == 4) {
+            if(reversion == 0)
+                right();
+            else left();   }
+        else if(g_cmd == 5) {stop();    }
+        
+/////////////////SKILL Q///////////////////
+
+
+        else if(g_cmd == 6) {chieu_maybao = !chieu_maybao;  }  //thiet lap chieu may bao
+        else if(g_cmd == 7) {skillQ(); }  // on/off skill Q
+        
+////////////////SKILL W///////////////////
+        else if(g_cmd == 9) {kichdien = !kichdien;
+        if(kichdien == 0 ) pc.printf("\n\r# turn on kich dien\n\r");
+        else pc.printf("\n\r# turn off kich dien\n\r");
+         }  //on skill W    
+//        else if(g_cmd ==11) {kichdien = 1; pc.printf("\n\r# turn off kich dien \n\r");}  //off skill W
+        
+////////////////SKILL E///////////////////
+
+        else if(g_cmd == 12) {skillE();    }  //on skill E
+       // else if(g_cmd == 13) {offskillE(); }  //off skill E
+        
+/////////////////SKILL R///////////////////
+        else if(g_cmd == 16) {skillR();    }  //on skill R
+ //       else if(g_cmd == 17) {offskillR(); }
+ ///////////Check! are bot reversed? //////////////////////
+        else if(g_cmd == 18) {reversion = !reversion; }  
+
+        g_cmd = 0;
+}
+}