main.cpp

00001 
00002 #include "mbed.h"
00003 #include "DebounceIn.h"
00004 #include "PinDetect.h"
00005 #include "uLCD_4DGL.h"
00006 #include "rtos.h"
00007 
00008 Ticker flipper;
00009 uLCD_4DGL uLCD(p13,p14,p28); // serial tx, serial rx, reset pin;
00010 Serial xbee1(p9, p10);
00011 DigitalOut rst1(p11);
00012 DebounceIn forward(p16);
00013 DebounceIn left(p17);
00014 DebounceIn reverse(p18);
00015 DebounceIn right(p24);
00016 //forward   16
00017 //left      17
00018 //reverse   18
00019 //right     19
00020 
00021 DigitalOut led1(LED1); //four leds to display the command users send in
00022 DigitalOut led2(LED2);
00023 DigitalOut led3(LED3);
00024 DigitalOut led4(LED4);
00025 Mutex uLCD_lock; //mutex lock for the uLCD communication
00026 volatile int voltage;
00027 volatile int distance;
00028 
00029 
00030 void read_battery() 
00031 //read battery information back from the robot, need a mutex lock when 
00032 //the information is written to the variable, otherwise "display_battery" 
00033 //thread will try to access the the variable while it's changed
00034 {
00035 
00036     xbee1.putc(15);
00037     //if (xbee1.readable()) {
00038         uLCD_lock.lock();
00039         voltage = xbee1.getc();
00040         uLCD_lock.unlock();
00041     //}
00042     //pc.printf("voltage: %i\n",voltage);
00043 }
00044 
00045 void read_distance() 
00046 //read distance information back from the robot, need a mutex lock when 
00047 //the information is written to the variable, otherwise "display_distance" 
00048 //thread will try to access the the variable while it's changed
00049 {
00050     xbee1.putc(16);
00051     //if (xbee1.readable()) {
00052         uLCD_lock.lock();
00053         distance = xbee1.getc();
00054         uLCD_lock.unlock();
00055     //}
00056     //pc.printf("distance: %i\n",distance);
00057 }
00058 void display_distance(void const *args) //update the distance sensor information in the LCD once every 0.3s
00059 {
00060     while(1) {
00061 
00062         uLCD_lock.lock();
00063         uLCD.locate(1,5);
00064         float temp = float(1/(float(distance)/232*3.3))*30.53-2.64; //distance*232 scales reading back to a float between 0-1. Then a linear
00065                                                                     //approximation is used to convert float reading to cm reading
00066         uLCD.printf("%3.3fcm",temp);
00067         uLCD_lock.unlock();
00068         //pc.printf("%i\n",distance);
00069         Thread::wait(300);
00070 
00071     }
00072 }
00073 
00074 void display_battery(void const *args) //update the battery information in the LCD once every 0.3s
00075 {
00076     while(1) {
00077         uLCD_lock.lock();
00078         uLCD.locate(1,3);
00079         uLCD.printf("%2.2fV",float(voltage)/232*3.3*2);
00080         //pc.printf("%i\n",voltage);
00081         uLCD_lock.unlock();
00082         Thread::wait(300);
00083     }
00084 }
00085 
00086 int main()
00087 {
00088     forward.mode(PullUp);
00089     reverse.mode(PullUp);
00090     left.mode(PullUp);
00091     right.mode(PullUp);
00092 
00093     // reset the xbees (at least 200ns)
00094     rst1 = 0;
00095     wait_ms(100);
00096     rst1 = 1;
00097     wait_ms(100);
00098     uLCD.baudrate(3000000); //update the 
00099     uLCD.cls();
00100     wait(.01);
00101     uLCD.locate(1,2);
00102     uLCD.printf("Battery:\n");
00103     uLCD.locate(1,4);
00104     uLCD.printf("Distance:\n");
00105     Thread thread4(display_distance);
00106     Thread thread5(display_battery);
00107 
00108     while (1) {
00109         // loop to check if each pushbutton is pushed. If pushed, send a corresponding command to the robot
00110         if (forward==0) {
00111             led1 = 1;
00112             xbee1.putc(11);
00113         } else if (reverse==0) {
00114             led3 = 1;
00115             xbee1.putc(12);
00116         } else if (left==0) {
00117             led2 = 1;
00118             xbee1.putc(13);
00119         } else if (right == 0) {
00120             led4 = 1;
00121             xbee1.putc(14);
00122         } else {
00123             xbee1.putc(0);
00124             led1=led2=led3=led4=0; //reset all LED at the end of loop
00125         }
00126         read_distance(); //request distance information at the end of every loop
00127         read_battery(); //request battery information at the end of every loop
00128     }
00129 }