Hanbin Ying / Mbed 2 deprecated 2Xbee_Controller

Xbee robot with telemetry, controller code

Dependencies:   4DGL-uLCD-SE DebounceIn PinDetect mbed-rtos mbed

Fork of LED_RTOS by jim hamblen

main.cpp@1:2c67639795a4, 2016-04-29 (annotated)

Committer:
yhbyhb4433
Date:
Fri Apr 29 19:08:24 2016 +0000
Revision:
1:2c67639795a4
Parent:
0:9439ccb44422 
Xbee robot with telemetry_controller code;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yhbyhb4433 1:2c67639795a4 1
4180_1 0:9439ccb44422 2 #include "mbed.h"
yhbyhb4433 1:2c67639795a4 3 #include "DebounceIn.h"
yhbyhb4433 1:2c67639795a4 4 #include "PinDetect.h"
yhbyhb4433 1:2c67639795a4 5 #include "uLCD_4DGL.h"
4180_1 0:9439ccb44422 6 #include "rtos.h"
yhbyhb4433 1:2c67639795a4 7
yhbyhb4433 1:2c67639795a4 8 Ticker flipper;
yhbyhb4433 1:2c67639795a4 9 uLCD_4DGL uLCD(p13,p14,p28); // serial tx, serial rx, reset pin;
yhbyhb4433 1:2c67639795a4 10 Serial xbee1(p9, p10);
yhbyhb4433 1:2c67639795a4 11 DigitalOut rst1(p11);
yhbyhb4433 1:2c67639795a4 12 DebounceIn forward(p16);
yhbyhb4433 1:2c67639795a4 13 DebounceIn left(p17);
yhbyhb4433 1:2c67639795a4 14 DebounceIn reverse(p18);
yhbyhb4433 1:2c67639795a4 15 DebounceIn right(p24);
yhbyhb4433 1:2c67639795a4 16 //forward 16
yhbyhb4433 1:2c67639795a4 17 //left 17
yhbyhb4433 1:2c67639795a4 18 //reverse 18
yhbyhb4433 1:2c67639795a4 19 //right 19
yhbyhb4433 1:2c67639795a4 20
yhbyhb4433 1:2c67639795a4 21 Serial pc(USBTX, USBRX);
yhbyhb4433 1:2c67639795a4 22 DigitalOut led1(LED1);
yhbyhb4433 1:2c67639795a4 23 DigitalOut led2(LED2);
yhbyhb4433 1:2c67639795a4 24 DigitalOut led3(LED3);
yhbyhb4433 1:2c67639795a4 25 DigitalOut led4(LED4);
yhbyhb4433 1:2c67639795a4 26 Mutex xbee_lock;
yhbyhb4433 1:2c67639795a4 27 Mutex uLCD_lock;
yhbyhb4433 1:2c67639795a4 28 int a;
yhbyhb4433 1:2c67639795a4 29 volatile int voltage;
yhbyhb4433 1:2c67639795a4 30 volatile int distance;
4180_1 0:9439ccb44422 31
yhbyhb4433 1:2c67639795a4 32
yhbyhb4433 1:2c67639795a4 33 void read_battery()
yhbyhb4433 1:2c67639795a4 34 {
yhbyhb4433 1:2c67639795a4 35
yhbyhb4433 1:2c67639795a4 36 xbee1.putc(15);
yhbyhb4433 1:2c67639795a4 37 //if (xbee1.readable()) {
yhbyhb4433 1:2c67639795a4 38 uLCD_lock.lock();
yhbyhb4433 1:2c67639795a4 39 voltage = xbee1.getc();
yhbyhb4433 1:2c67639795a4 40 uLCD_lock.unlock();
yhbyhb4433 1:2c67639795a4 41 //}
yhbyhb4433 1:2c67639795a4 42 //pc.printf("voltage: %i\n",voltage);
4180_1 0:9439ccb44422 43 }
yhbyhb4433 1:2c67639795a4 44
yhbyhb4433 1:2c67639795a4 45 void read_distance()
yhbyhb4433 1:2c67639795a4 46 {
yhbyhb4433 1:2c67639795a4 47 xbee1.putc(16);
yhbyhb4433 1:2c67639795a4 48 //if (xbee1.readable()) {
yhbyhb4433 1:2c67639795a4 49 uLCD_lock.lock();
yhbyhb4433 1:2c67639795a4 50 distance = xbee1.getc();
yhbyhb4433 1:2c67639795a4 51 uLCD_lock.unlock();
yhbyhb4433 1:2c67639795a4 52 //}
yhbyhb4433 1:2c67639795a4 53 //pc.printf("distance: %i\n",distance);
yhbyhb4433 1:2c67639795a4 54 }
yhbyhb4433 1:2c67639795a4 55 void display_distance(void const *args)
yhbyhb4433 1:2c67639795a4 56 {
4180_1 0:9439ccb44422 57 while(1) {
yhbyhb4433 1:2c67639795a4 58
yhbyhb4433 1:2c67639795a4 59 uLCD_lock.lock();
yhbyhb4433 1:2c67639795a4 60 uLCD.locate(1,5);
yhbyhb4433 1:2c67639795a4 61 float temp = float(1/(float(distance)/232*3.3))*30.53-2.64;
yhbyhb4433 1:2c67639795a4 62 uLCD.printf("%3.3fcm",temp);
yhbyhb4433 1:2c67639795a4 63 uLCD_lock.unlock();
yhbyhb4433 1:2c67639795a4 64 //pc.printf("%i\n",distance);
yhbyhb4433 1:2c67639795a4 65 Thread::wait(300);
yhbyhb4433 1:2c67639795a4 66
4180_1 0:9439ccb44422 67 }
4180_1 0:9439ccb44422 68 }
4180_1 0:9439ccb44422 69
yhbyhb4433 1:2c67639795a4 70 void display_battery(void const *args)
yhbyhb4433 1:2c67639795a4 71 {
4180_1 0:9439ccb44422 72 while(1) {
yhbyhb4433 1:2c67639795a4 73 uLCD_lock.lock();
yhbyhb4433 1:2c67639795a4 74 uLCD.locate(1,3);
yhbyhb4433 1:2c67639795a4 75 uLCD.printf("%2.2fV",float(voltage)/232*3.3*2);
yhbyhb4433 1:2c67639795a4 76 //pc.printf("%i\n",voltage);
yhbyhb4433 1:2c67639795a4 77 uLCD_lock.unlock();
yhbyhb4433 1:2c67639795a4 78 Thread::wait(300);
4180_1 0:9439ccb44422 79 }
4180_1 0:9439ccb44422 80 }
4180_1 0:9439ccb44422 81
yhbyhb4433 1:2c67639795a4 82 int main()
yhbyhb4433 1:2c67639795a4 83 {
yhbyhb4433 1:2c67639795a4 84 forward.mode(PullUp);
yhbyhb4433 1:2c67639795a4 85 reverse.mode(PullUp);
yhbyhb4433 1:2c67639795a4 86 left.mode(PullUp);
yhbyhb4433 1:2c67639795a4 87 right.mode(PullUp);
yhbyhb4433 1:2c67639795a4 88
yhbyhb4433 1:2c67639795a4 89 // reset the xbees (at least 200ns)
yhbyhb4433 1:2c67639795a4 90 rst1 = 0;
yhbyhb4433 1:2c67639795a4 91 wait_ms(100);
yhbyhb4433 1:2c67639795a4 92 rst1 = 1;
yhbyhb4433 1:2c67639795a4 93 wait_ms(100);
yhbyhb4433 1:2c67639795a4 94 uLCD.baudrate(3000000);
yhbyhb4433 1:2c67639795a4 95 uLCD.cls();
yhbyhb4433 1:2c67639795a4 96 wait(.01);
yhbyhb4433 1:2c67639795a4 97 uLCD.locate(1,2);
yhbyhb4433 1:2c67639795a4 98 uLCD.printf("Battery:\n");
yhbyhb4433 1:2c67639795a4 99 uLCD.locate(1,4);
yhbyhb4433 1:2c67639795a4 100 uLCD.printf("Distance:\n");
yhbyhb4433 1:2c67639795a4 101 //Thread thread2(read_distance);
yhbyhb4433 1:2c67639795a4 102 //Thread thread3(read_battery);
yhbyhb4433 1:2c67639795a4 103 Thread thread4(display_distance);
yhbyhb4433 1:2c67639795a4 104 Thread thread5(display_battery);
yhbyhb4433 1:2c67639795a4 105
yhbyhb4433 1:2c67639795a4 106 //led1=1;
yhbyhb4433 1:2c67639795a4 107 //}
yhbyhb4433 1:2c67639795a4 108 while (1) {
yhbyhb4433 1:2c67639795a4 109 if (forward==0) {
yhbyhb4433 1:2c67639795a4 110 led1 = 1;
yhbyhb4433 1:2c67639795a4 111 xbee1.putc(11);
yhbyhb4433 1:2c67639795a4 112 } else if (reverse==0) {
yhbyhb4433 1:2c67639795a4 113 led3 = 1;
yhbyhb4433 1:2c67639795a4 114 xbee1.putc(12);
yhbyhb4433 1:2c67639795a4 115 } else if (left==0) {
yhbyhb4433 1:2c67639795a4 116 led2 = 1;
yhbyhb4433 1:2c67639795a4 117 xbee1.putc(13);
yhbyhb4433 1:2c67639795a4 118 } else if (right == 0) {
yhbyhb4433 1:2c67639795a4 119 led4 = 1;
yhbyhb4433 1:2c67639795a4 120 xbee1.putc(14);
yhbyhb4433 1:2c67639795a4 121 } else {
yhbyhb4433 1:2c67639795a4 122 xbee1.putc(0);
yhbyhb4433 1:2c67639795a4 123 led1=led2=led3=led4=0;
yhbyhb4433 1:2c67639795a4 124 }
yhbyhb4433 1:2c67639795a4 125 read_distance();
yhbyhb4433 1:2c67639795a4 126 read_battery();
4180_1 0:9439ccb44422 127 }
yhbyhb4433 1:2c67639795a4 128 }