Alex Leversen
Added websocket control to Nerf Gun.
Dependencies: EthernetInterface WebSocketClient mbed-rtos mbed
Revision 0:c9cc3d5f6e8b, committed 2014-08-18
- Comitter:
- alexleversen
- Date:
- Mon Aug 18 15:27:35 2014 +0000
- Child:
- 1:282c51f938b3
- Commit message:
- Added websocket control to Nerf Gun.
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/EthernetInterface.lib Mon Aug 18 15:27:35 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/EthernetInterface/#f69b81aa9eb1
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/WebSocketClient.lib Mon Aug 18 15:27:35 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/samux/code/WebSocketClient/#4567996414a5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Aug 18 15:27:35 2014 +0000
@@ -0,0 +1,162 @@
+#include "mbed.h"
+#include "EthernetInterface.h"
+#include "Websocket.h"
+
+#define V_SERVO_CENTER 1800
+#define V_SERVO_MAX 2200
+#define V_SERVO_MIN 800
+#define H_SERVO_CENTER 1600
+#define H_SERVO_MAX 2200
+#define H_SERVO_MIN 800
+
+DigitalOut myled1(LED1);
+DigitalOut myled2(LED2);
+DigitalOut myled3(LED3);
+
+DigitalOut fire(PTB23);
+PwmOut v_servo(PTC2);
+PwmOut h_servo(PTA2);
+
+int main()
+{
+ EthernetInterface eth;
+ eth.init(); //Use DHCP
+ eth.connect();
+ printf("IP Address is %s\n\r", eth.getIPAddress());
+
+ Websocket ws("ws://sockets.mbed.org/ws/alexleversen/rw");
+ ws.connect();
+ char recv[6]="fire";
+
+ v_servo.period_us(20000); // servo requires a 20ms period
+ v_servo.pulsewidth_us(V_SERVO_CENTER);
+ h_servo.period_us(20000); // servo requires a 20ms period
+ h_servo.pulsewidth_us(H_SERVO_CENTER);
+ fire = 0;
+
+ int v_pulse = V_SERVO_CENTER;
+ int h_pulse = H_SERVO_CENTER;
+
+ v_servo.pulsewidth_us(v_pulse); // servo position determined by a pulsewidth between 1-2ms
+ h_servo.pulsewidth_us(h_pulse); // servo position determined by a pulsewidth between 1-2ms
+ int move_x=0;
+ int move_y=0;
+ wait(0.5);
+
+ while(1){
+ if(ws.read(recv)){
+ if(strcmp(recv,"fire")==0){
+ fire=1;
+ while(1){
+ wait(0.02);
+ ws.read(recv);
+ if(strcmp(recv,"stop")==0){
+ fire=0;
+ break;
+ }
+ }
+ }
+ else if(strcmp(recv,"left")==0){
+ while(1){
+ move_x-=10;
+ h_pulse = H_SERVO_CENTER + move_x;
+
+ if (h_pulse <= H_SERVO_MIN) h_pulse = H_SERVO_MIN;
+ if (h_pulse >= H_SERVO_MAX) h_pulse = H_SERVO_MAX;
+
+ h_servo.pulsewidth_us(h_pulse); // servo position determined by a pulsewidth between 1-2ms
+ ws.read(recv);
+ if(strcmp(recv,"stop")==0){
+ break;
+ }
+ wait(0.02);
+ }
+ }
+ else if(strcmp(recv,"right")==0){
+ while(1){
+ move_x+=10;
+ h_pulse = H_SERVO_CENTER + move_x;
+
+ if (h_pulse <= H_SERVO_MIN) h_pulse = H_SERVO_MIN;
+ if (h_pulse >= H_SERVO_MAX) h_pulse = H_SERVO_MAX;
+
+ h_servo.pulsewidth_us(h_pulse); // servo position determined by a pulsewidth between 1-2ms
+ ws.read(recv);
+ if(strcmp(recv,"stop")==0){
+ break;
+ }
+ wait(0.02);
+ }
+ }
+ else if(strcmp(recv,"up")==0){
+ while(1){
+ move_y-=10;
+ v_pulse = V_SERVO_CENTER + move_y;
+
+ if (v_pulse <= V_SERVO_MIN) v_pulse = V_SERVO_MIN;
+ if (v_pulse >= V_SERVO_MAX) v_pulse = V_SERVO_MAX;
+
+ v_servo.pulsewidth_us(v_pulse); // servo position determined by a pulsewidth between 1-2ms
+ ws.read(recv);
+ if(strcmp(recv,"stop")==0){
+ break;
+ }
+ wait(0.02);
+ }
+ }
+ else if(strcmp(recv,"down")==0){
+ while(1){
+ move_y+=10;
+ v_pulse = V_SERVO_CENTER + move_y;
+
+ if (v_pulse <= V_SERVO_MIN) v_pulse = V_SERVO_MIN;
+ if (v_pulse >= V_SERVO_MAX) v_pulse = V_SERVO_MAX;
+
+ v_servo.pulsewidth_us(v_pulse); // servo position determined by a pulsewidth between 1-2ms
+ ws.read(recv);
+ if(strcmp(recv,"stop")==0){
+ break;
+ }
+ wait(0.02);
+ }
+ }
+ else if(strcmp(recv,"lpuls")==0){
+ move_x-=25;
+ h_pulse = H_SERVO_CENTER + move_x;
+
+ if (h_pulse <= H_SERVO_MIN) h_pulse = H_SERVO_MIN;
+ if (h_pulse >= H_SERVO_MAX) h_pulse = H_SERVO_MAX;
+
+ h_servo.pulsewidth_us(h_pulse); // servo position determined by a pulsewidth between 1-2ms
+ }
+ else if(strcmp(recv,"rpuls")==0){
+ move_x+=25;
+ h_pulse = H_SERVO_CENTER + move_x;
+
+ if (h_pulse <= H_SERVO_MIN) h_pulse = H_SERVO_MIN;
+ if (h_pulse >= H_SERVO_MAX) h_pulse = H_SERVO_MAX;
+
+ h_servo.pulsewidth_us(h_pulse); // servo position determined by a pulsewidth between 1-2ms
+ }
+ else if(strcmp(recv,"upuls")==0){
+ move_y-=25;
+ v_pulse = V_SERVO_CENTER + move_y;
+
+ if (v_pulse <= V_SERVO_MIN) v_pulse = V_SERVO_MIN;
+ if (v_pulse >= V_SERVO_MAX) v_pulse = V_SERVO_MAX;
+
+ v_servo.pulsewidth_us(v_pulse); // servo position determined by a pulsewidth between 1-2ms
+ }
+ else if(strcmp(recv,"dpuls")==0){
+ move_y+=25;
+ v_pulse = V_SERVO_CENTER + move_y;
+
+ if (v_pulse <= V_SERVO_MIN) v_pulse = V_SERVO_MIN;
+ if (v_pulse >= V_SERVO_MAX) v_pulse = V_SERVO_MAX;
+
+ v_servo.pulsewidth_us(v_pulse); // servo position determined by a pulsewidth between 1-2ms
+ }
+ }
+ }
+
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-rtos.lib Mon Aug 18 15:27:35 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed-rtos/#34e80e862021
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Aug 18 15:27:35 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/6213f644d804 \ No newline at end of file