Diff: main.h

Revision:

0:a10cfed4fa88

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.h	Thu Dec 10 06:55:09 2015 +0000
@@ -0,0 +1,184 @@
+#include "mbed.h"
+
+#include "C12832.h"
+#include "USBHostMSD.h"
+#include "wave_player.h"
+#include "Servo.h"
+#include "Ping.h"
+
+#define BIAS 0.2030303
+#define THRES 17
+
+/* States enumated and compartmentalized into functions */
+enum States { PATROL, SEARCH, ALERT };
+States patrol_state();
+States search_state();
+States alert_state();
+
+/* Global Variables and components */
+DigitalOut board_led1(LED1);
+DigitalOut board_led2(LED2);
+DigitalOut board_led3(LED3);
+DigitalOut board_led4(LED4);
+C12832 lcd(p5, p7, p6, p8, p11);
+PwmOut r_led(p23);
+PwmOut g_led(p24);
+PwmOut b_led(p25);
+
+Serial pc(USBTX, USBRX);
+USBHostMSD* msd = 0;
+
+enum MOVE {BAD = -1, STOP, FORW, BACK, LTUR, RTUR, LPIV,RPIV };
+MOVE g_movement = BAD;
+Servo rightServo(p21);
+Servo leftServo(p22);
+
+DigitalIn pir1(p29,PullUp);
+DigitalIn pir2(p30, PullUp);
+Ping ultrasonic_in(p16);
+AnalogIn microphone_in(p17);
+
+AnalogOut DACout(p18);
+PwmOut board_speaker(p23);//(p26);
+wave_player waver(&DACout,&board_speaker);
+Serial bluetooth(p9, p10);
+
+/* Helper Functions */
+
+    /*                      *
+     *  VISUAL FUNCTIONS    *
+     *                      */  
+void set_boardleds(int one, int two = board_led2, int thr = board_led3, int fou = board_led4) {
+    board_led1 = (one <= 0 ? 0 : 1);
+    board_led2 = (two <= 0 ? 0 : 1);
+    board_led3 = (thr <= 0 ? 0 : 1);
+    board_led4 = (fou <= 0 ? 0 : 1);
+}
+
+void lcd_newmessage(const char* const message) {
+    lcd.cls();
+    lcd.locate(0,3);
+    lcd.printf(message);
+}
+
+void set_rgb_f(float r, float g, float b) {
+    r_led = r;
+    g_led = g;
+    b_led = b;
+}
+
+void set_rgb(unsigned int r, unsigned int g, unsigned int b) {
+    r_led = (float)r / 255.f;
+    g_led = (float)g / 255.f;
+    b_led = (float)b / 255.f;
+}
+
+    /*                      *
+     *     USB FUNCTIONS    *
+     *                      */  
+void setup_usb() {
+    msd = new USBHostMSD("usb");
+    while(!msd->connect()) {
+        Thread::wait(500);
+    }  
+}
+
+void play_file(const char * const filepath) {
+    FILE *wave_file;
+    wave_file=fopen(filepath,"r");
+    if(wave_file == NULL) {
+        set_boardleds(1, 1, 1, 1);
+        return;
+    }
+    waver.play(wave_file);
+    fclose(wave_file);
+}
+
+void play_usbfile(const char * const filename) {
+    char filepath[80];
+    strcpy(filepath, "/usb/");
+    strcat(filepath, filename);
+    play_file(filepath);
+}
+
+    /*                      *
+     *   DRIVE FUNCTIONS    *
+     *                      */    
+void drive_stop() {
+    if(g_movement != STOP) {
+        rightServo = 0.5;
+        leftServo = 0.5;
+        g_movement = STOP;
+    }
+}
+void drive_forward() {
+    if(g_movement != FORW) {
+        rightServo = 0;
+        leftServo = 1;
+        g_movement = FORW;
+    }
+}
+void drive_backward() {
+    if(g_movement != BACK) {
+        rightServo = 1;
+        leftServo = 0;
+        g_movement = BACK;
+    }
+}
+void drive_turnLeft() {
+    if(g_movement != LTUR) {
+        rightServo = 0;
+        leftServo = 0.5;
+        g_movement = LTUR;
+    }
+}
+void drive_turnRight() {
+    if(g_movement != RTUR) {
+        rightServo = 0.5;
+        leftServo = 1;
+        g_movement = RTUR;
+    }
+}
+void drive_pivotLeft() {
+    if(g_movement != LPIV) {
+        rightServo = 0;
+        leftServo = 0;
+        g_movement = LPIV;
+    }
+}
+void drive_pivotRight() {
+    if(g_movement != RPIV) {
+        rightServo = 1;
+        leftServo = 1;
+        g_movement = RPIV;
+    }
+}
+
+    /*                      *
+     *   SENSOR FUNCTIONS   *
+     *                      */  
+int read_distance() {
+    int distance = -1;
+    ultrasonic_in.Send();
+    wait_ms(30);
+    distance = ultrasonic_in.Read_cm();
+    return distance;   
+}
+int motion_detected() {
+    return !pir1 || !pir2; //pir pulls low when motion is detected    
+}
+
+int hear_sound() {
+    if((microphone_in - BIAS)*500 > THRES) {//70% volume 
+       return 1;
+    } else {
+        return 0;
+    }
+}
+
+    /*                      *
+     * WIRELESS FUNCTIONS   *
+     *                      */  
+void send_email() {
+    bluetooth.printf("Send Email\n");
+}