ARSLab
Bluetooth program for the Seeed bot
Dependencies: BluetoothSerial SeeedShieldBot mbed
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Seeed_BlueBot_demo
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ST
Revision 0:fa6bc104fe2d, committed 2014-09-08
- Comitter:
- bcostm
- Date:
- Mon Sep 08 08:22:07 2014 +0000
- Child:
- 1:6a67ad238815
- Commit message:
- Initial version.
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/BluetoothSerial.lib Mon Sep 08 08:22:07 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/yihui/code/BluetoothSerial/#f56002898ee8
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SeeedShieldBot.lib Mon Sep 08 08:22:07 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/teams/components/code/SeeedShieldBot/#9fd1722259a1
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Sep 08 08:22:07 2014 +0000
@@ -0,0 +1,111 @@
+#include "mbed.h"
+#include "BluetoothSerial.h"
+#include "SeeedStudioShieldBot.h"
+
+// The following configuration must be done on the NUCLEO board:
+// - Close SB62/SB63 and open SB13/SB14 solder bridges to enable the D0/D1 pins
+// - Open SB21 solder bridge to disconnect the LED
+
+BluetoothSerial bluetooth(D1, D0); // TX, RX
+
+SeeedStudioShieldBot bot(
+ D8, D9, D11, // Right motor pins (PwmOut, DigitalOut, DigitalOut) -> Motor 1
+ D12, D10, D13, // Left motor pins (PwmOut, DigitalOut, DigitalOut) -> Motor 2
+ A0, A1, A2, A3, A4 // Sensors pins (all DigitalIn)
+);
+
+// Enable it for debugging on hyperterminal
+#define DEBUG 1
+#if DEBUG == 1
+Serial pc(PC_10, PC_11);
+#define PC_DEBUG(args...) pc.printf(args)
+#else
+#define PC_DEBUG(args...)
+#endif
+
+Ticker tick;
+
+float speed = 1.0; // Motors speed
+
+void ReadCommand(void)
+{
+ int cmd = 0;
+ PC_DEBUG(">>> Read command...\n");
+ if (bluetooth.readable())
+ {
+ cmd = bluetooth.getc();
+ PC_DEBUG(">>> Bluetooth read [%c]\n", cmd);
+ switch(cmd)
+ {
+ case 1: // Forward
+ bot.forward(speed);
+ break;
+ case 2: // Backward
+ bot.backward(speed);
+ break;
+ case 3: // Left
+ bot.left(speed);
+ break;
+ case 4: // Right
+ bot.right(speed);
+ break;
+ case 5: // Turn left
+ bot.turn_right(speed);
+ break;
+ case 6: // Turn right
+ bot.turn_left(speed);
+ break;
+ case 7: // Slow
+ speed = 0.4;
+ break;
+ case 8: // Fast
+ speed = 1.0;
+ break;
+ default: // Stop
+ bot.stopAll();
+ break;
+ }
+ }
+}
+
+int main()
+{
+ PC_DEBUG("\n\nSeeed Bluetooth shield test started.\n");
+
+ // Enable motors
+ bot.enable_right_motor();
+ bot.enable_left_motor();
+
+ // Check if they are alive
+ bot.left(speed);
+ wait(0.2);
+ bot.right(speed);
+ wait(0.2);
+ bot.stopAll();
+
+ PC_DEBUG(">>> Bluetooth setup...");
+ bluetooth.setup();
+ PC_DEBUG("done\n");
+
+ PC_DEBUG(">>> Bluetooth in slave mode...");
+ bluetooth.slave("btslave8seeed"); // default PIN code: 0000
+ PC_DEBUG("done\n");
+
+ wait(2);
+
+ PC_DEBUG(">>> Bluetooth connect...");
+ bluetooth.connect();
+ PC_DEBUG("done\n");
+
+ tick.attach_us(ReadCommand, 500000); // Every 500ms read Bluetooth command
+
+ bot.forward(speed);
+ wait(0.4);
+ bot.backward(speed);
+ wait(0.4);
+ bot.stopAll();
+
+ while (1) {
+ wait(1);
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-src.lib Mon Sep 08 08:22:07 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed-src/#8f72041da6ba