George Wang
Mobile Robot Project
Dependencies: RGB_LED m3pi mbed
Revision 0:541dc12fcbf0, committed 2015-10-29
- Comitter:
- wqz9822
- Date:
- Thu Oct 29 16:19:19 2015 +0000
- Commit message:
- Mobile Robot Project
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/RGB_LED.lib Thu Oct 29 16:19:19 2015 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/wqz9822/code/RGB_LED/#8f07ffe423ce
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/m3pi.lib Thu Oct 29 16:19:19 2015 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/wqz9822/code/m3pi/#f1e6f60b2fdf
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Oct 29 16:19:19 2015 +0000
@@ -0,0 +1,166 @@
+#include "mbed.h"
+#include "m3pi.h"
+#include "rgbLed.h"
+#include "color.h"
+
+m3pi m3pi;
+Timer timerA;
+Serial Wixel(p28, p27); // tx, rx
+AnalogIn analog (p20); // Randomness generator
+AnalogIn resistorAin (p16); // Voltage divider reads
+
+//Setup RGB led using PWM pins and class
+RGBLed myRGBled(p23,p22,p21); //RGB PWM pins
+
+//setup some color objects in flash using const's
+const LEDColor red (255, 0, 0);
+const LEDColor green (0, 255, 0);
+const LEDColor blue (0, 0, 255);
+const LEDColor yellow(255 ,255 ,0);
+const LEDColor white (255 ,255, 255);
+
+DigitalOut PIN15 (p15);
+DigitalOut PIN17 (p17);
+DigitalOut PIN18 (p18);
+DigitalOut PIN19 (p19);
+DigitalOut PIN20 (p20);
+
+int behaviour; // Behaviour switcher
+float voltage;
+int voltageCounter = 0; // To elmimate ADC spike noise
+float timerThreshold;
+
+
+unsigned int random_generator (void){
+ unsigned int x = 0;
+ unsigned int iRandom = 0;
+
+ for (x = 0; x <= 32; x += 2)
+ {
+ iRandom += ((analog.read_u16() % 3) << x);
+ wait_us (10);
+ }
+
+ return iRandom;
+}
+
+void forward(float amount) {
+ float speed = amount/5.0 + .075;
+ m3pi.left_motor(-speed);
+ m3pi.right_motor(-speed);
+ timerThreshold = 1;
+}
+
+void backward(float amount) {
+ float speed = amount/5.0 + .075;
+ m3pi.left_motor(speed);
+ m3pi.right_motor(speed);
+ timerThreshold = 1;
+}
+
+void turnLeft(float amount) {
+ // try to anchor it so that 1 means 90 degree turn
+ float right_speed = amount/5.0 + .075;
+ m3pi.left_motor(right_speed);
+
+ m3pi.right_motor(-right_speed);
+ timerThreshold=.5;
+}
+
+void turnRight(float amount) {
+ float left_speed = amount/5.0 + .075;
+ m3pi.right_motor(left_speed);
+ m3pi.left_motor(-left_speed);
+ timerThreshold=.5;
+}
+
+/*void shakeHead() {
+ m3pi.left_motor(.15);
+ m3pi.right_motor(-.15);
+ wait(.3);
+ for(int i = 0; i < 3; i++) {
+ if(i % 2 == 0) {
+ m3pi.left_motor(-.15);
+ m3pi.right_motor(.15);
+ } else {
+ m3pi.left_motor(.15);
+ m3pi.right_motor(-.15);
+ }
+ timerThreshold = .6);
+ }
+ m3pi.left_motor(.15);
+ m3pi.right_motor(-.15);
+ wait(.3);
+}*/
+
+void actLikeYoureInLove() {
+ myRGBled = red;
+ m3pi.left_motor(0.0);
+ m3pi.right_motor(0.0);
+ wait(1);
+ m3pi.left_motor(-0.1);
+ m3pi.right_motor(-0.1);
+ wait(.5);
+ while(1) {
+ m3pi.left_motor(.2);
+ m3pi.right_motor(-.2);
+
+ }
+}
+
+void init()
+{
+ Wixel.baud(9600);
+ timerA.start();
+ myRGBled = green;
+ srand (random_generator()); // Using ADC value to generate random seed
+}
+
+int main()
+{
+
+ init();
+
+ while(1)
+ {
+ voltage = resistorAin;
+ Wixel.printf("Voltage %f \n",voltage);
+
+ if (( voltage > 0.45) & ( voltage < 0.7))
+ {
+ voltageCounter ++;
+ if (voltageCounter == 2){
+ actLikeYoureInLove();
+ }
+ }
+
+ //Wixel.printf("%f seconds\n", timerA.read());
+
+ if( timerA.read() >= timerThreshold)
+ {
+ behaviour = rand() % 5 + 1; // Generate num between 1 and 5
+ //Wixel.printf("Behavior &d\n", behaviour);
+ float speed = rand()/double(RAND_MAX);
+
+ switch (behaviour)
+ {
+ case 1:
+ forward(1);
+ break;
+ case 2:
+ turnLeft(speed);
+ break;
+ case 3:
+ turnRight(speed);
+ break;
+ case 4:
+ backward(1);
+ break;
+ case 5:
+ //Do noting
+ break;
+ }
+ timerA.reset();
+ }
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Oct 29 16:19:19 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/e2ac27c8e93e