Revision 1:2c67639795a4, committed 2016-04-29

Comitter:

yhbyhb4433

Date:

Fri Apr 29 19:08:24 2016 +0000

Parent:

0:9439ccb44422

Commit message:

Xbee robot with telemetry_controller code;

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/4DGL-uLCD-SE.lib	Fri Apr 29 19:08:24 2016 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/4180_1/code/4DGL-uLCD-SE/#2cb1845d7681

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/DebounceIn.lib	Fri Apr 29 19:08:24 2016 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/AjK/code/DebounceIn/#31ae5cfb44a4

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PinDetect.lib	Fri Apr 29 19:08:24 2016 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/AjK/code/PinDetect/#cb3afc45028b

--- a/main.cpp	Fri Nov 28 18:00:06 2014 +0000
+++ b/main.cpp	Fri Apr 29 19:08:24 2016 +0000
@@ -1,75 +1,128 @@
+
 #include "mbed.h"
+#include "DebounceIn.h"
+#include "PinDetect.h"
+#include "uLCD_4DGL.h"
 #include "rtos.h"
-DigitalOut myled(LED1);
-PwmOut myled2(LED2);
-PwmOut myled3(LED3);
-PwmOut myled4(LED4);
+
+Ticker flipper;
+uLCD_4DGL uLCD(p13,p14,p28); // serial tx, serial rx, reset pin;
+Serial xbee1(p9, p10);
+DigitalOut rst1(p11);
+DebounceIn forward(p16);
+DebounceIn left(p17);
+DebounceIn reverse(p18);
+DebounceIn right(p24);
+//forward   16
+//left      17
+//reverse   18
+//right     19
+
+Serial pc(USBTX, USBRX);
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+Mutex xbee_lock;
+Mutex uLCD_lock;
+int a;
+volatile int voltage;
+volatile int distance;
 
-inline float random_number(){
-    return (rand()/(float(RAND_MAX)));
+
+void read_battery()
+{
+
+    xbee1.putc(15);
+    //if (xbee1.readable()) {
+        uLCD_lock.lock();
+        voltage = xbee1.getc();
+        uLCD_lock.unlock();
+    //}
+    //pc.printf("voltage: %i\n",voltage);
 }
- 
-void beacon(void const *args){
+
+void read_distance()
+{
+    xbee1.putc(16);
+    //if (xbee1.readable()) {
+        uLCD_lock.lock();
+        distance = xbee1.getc();
+        uLCD_lock.unlock();
+    //}
+    //pc.printf("distance: %i\n",distance);
+}
+void display_distance(void const *args)
+{
     while(1) {
-        //LED warm up effect using PWM
-        for(int i=0; i<50; i++) {
-            myled2 = i/50.0;
-            Thread::wait(1000.0*0.02);
-        }
-        //LED at full brightness level
-        myled2 = 1.0;
-        Thread::wait(1000.0*0.25);
-        //LED cool down effect using PWM
-        for(int i=49; i>0; i--) {
-            myled2 = i/50.0;
-            Thread::wait(1000.0*0.02);
-        }
-        //LED off
-        myled2 = 0.0;
-        Thread::wait(1000.0*1.5);
-    }
-}
-void welding(void const *args) {
-    float x = 0.0;
-    while(1) {
-        //get a new random number for PWM
-        x = random_number();
-        //add some exponential brightness scaling
-        //for more of a fast flash effect
-        myled3 = x*x*x;
-        //fast update rate for welding flashes
-        Thread::wait(1000.0*0.02);
-        //add a random pause between welds
-        if (random_number()>0.9925) {
-            myled3 = 0.0;
-            Thread::wait(1000.0*4.0*random_number());
-        }
+
+        uLCD_lock.lock();
+        uLCD.locate(1,5);
+        float temp = float(1/(float(distance)/232*3.3))*30.53-2.64;
+        uLCD.printf("%3.3fcm",temp);
+        uLCD_lock.unlock();
+        //pc.printf("%i\n",distance);
+        Thread::wait(300);
+
     }
 }
 
-void lighthouse(void const *args){
-    float y=0.0;
+void display_battery(void const *args)
+{
     while(1) {
-        for(double x=0.0; x <= 3.14159; x = x + 0.0314159) {
-            y = sin(x); //nice periodic function 0..1..0
-            myled4 = y*y*y;//exponential effect - needs a sharp peak
-            Thread::wait(1000.0*.025);
-        }
-        myled4 = 0.0;
-        //most lighthouses have a 5 second delay - so add another 2.5
-        Thread::wait(1000.0*2.5);
+        uLCD_lock.lock();
+        uLCD.locate(1,3);
+        uLCD.printf("%2.2fV",float(voltage)/232*3.3*2);
+        //pc.printf("%i\n",voltage);
+        uLCD_lock.unlock();
+        Thread::wait(300);
     }
 }
 
-int main() {
-    Thread thread2(beacon);
-    Thread thread3(welding);
-    Thread thread4(lighthouse);
-    //main runs standard LED blink demo
-    while(1) {
-        myled = 1;
-        Thread::wait(1000.0*0.2);
-        myled = 0;
-        Thread::wait(1000.0*0.2);
+int main()
+{
+    forward.mode(PullUp);
+    reverse.mode(PullUp);
+    left.mode(PullUp);
+    right.mode(PullUp);
+
+    // reset the xbees (at least 200ns)
+    rst1 = 0;
+    wait_ms(100);
+    rst1 = 1;
+    wait_ms(100);
+    uLCD.baudrate(3000000);
+    uLCD.cls();
+    wait(.01);
+    uLCD.locate(1,2);
+    uLCD.printf("Battery:\n");
+    uLCD.locate(1,4);
+    uLCD.printf("Distance:\n");
+    //Thread thread2(read_distance);
+    //Thread thread3(read_battery);
+    Thread thread4(display_distance);
+    Thread thread5(display_battery);
+
+    //led1=1;
+    //}
+    while (1) {
+        if (forward==0) {
+            led1 = 1;
+            xbee1.putc(11);
+        } else if (reverse==0) {
+            led3 = 1;
+            xbee1.putc(12);
+        } else if (left==0) {
+            led2 = 1;
+            xbee1.putc(13);
+        } else if (right == 0) {
+            led4 = 1;
+            xbee1.putc(14);
+        } else {
+            xbee1.putc(0);
+            led1=led2=led3=led4=0;
+        }
+        read_distance();
+        read_battery();
     }
-}
+}
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