J Daniel Martinez C / Mbed 2 deprecated OMNi-Robot_no_borrar

Robot

Dependencies:   Servo mbed wav_header wave_player TextLCD RemoteIR

Files at this revision

API Documentation at this revision

Revision 0:39f6dbb94f99, committed 2014-06-27

Comitter:
dan_cuspi
Date:
Fri Jun 27 23:39:12 2014 +0000
Commit message:
hola

Changed in this revision

Servo.lib Show annotated file Show diff for this revision Revisions of this file
Speaker.h Show annotated file Show diff for this revision Revisions of this file
extlib/TextLCD.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file
mylib/RemoteIR.lib Show annotated file Show diff for this revision Revisions of this file
wav_header.lib Show annotated file Show diff for this revision Revisions of this file
wave_player.lib Show annotated file Show diff for this revision Revisions of this file 
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Servo.lib	Fri Jun 27 23:39:12 2014 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/tylerjw/code/Servo/#1e75dcbded83

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Speaker.h	Fri Jun 27 23:39:12 2014 +0000
@@ -0,0 +1,52 @@
+class Speaker
+{
+public:
+    Speaker(PinName pin) : _pin(pin) {
+// _pin(pin) means pass pin to the Speaker Constructor
+// precompute 32 sample points on one sine wave cycle
+// used for continuous sine wave output later
+        for(int k=0; k<32; k++) {
+            Analog_out_data[k] = int (65536.0 * ((1.0 + sin((float(k)/32.0*6.28318530717959)))/2.0));
+            // scale the sine wave to 16-bits - as needed for AnalogOut write_u16 arg
+        }
+
+    }
+// class method to play a note based on AnalogOut class
+    void PlayNote(float frequency, float duration, float volume) {
+        // scale samples using current volume level arg
+        for(int k=0; k<32; k++) {
+            Analog_scaled_data[k] = Analog_out_data[k] * volume;
+        }
+        // reset to start of sample array
+        i=0;
+        // turn on timer interrupts to start sine wave output
+        Sample_Period.attach(this, &Speaker::Sample_timer_interrupt, 1.0/(frequency*32.0));
+        // play note for specified time
+        wait(duration);
+        // turns off timer interrupts
+        Sample_Period.detach();
+        // sets output to mid range - analog zero
+        this->_pin.write_u16(32768);
+
+    }
+private:
+// sets up specified pin for analog using AnalogOut class
+    AnalogOut _pin;
+    // set up a timer to be used for sample rate interrupts
+    Ticker Sample_Period;
+
+    //variables used by interrupt routine and PlayNote
+    volatile int i;
+    short unsigned Analog_out_data[32];
+    short unsigned Analog_scaled_data[32];
+
+// Interrupt routine
+// used to output next analog sample whenever a timer interrupt occurs
+    void Sample_timer_interrupt(void) {
+        // send next analog sample out to D to A
+        this->_pin.write_u16(Analog_scaled_data[i]);
+        // increment pointer and wrap around back to 0 at 32
+        i = (i+1) & 0x01F;
+    }
+};
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/extlib/TextLCD.lib	Fri Jun 27 23:39:12 2014 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/simon/code/TextLCD/#a53b3e2d6f1e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Jun 27 23:39:12 2014 +0000
@@ -0,0 +1,167 @@
+#include "mbed.h"
+#include "Servo.h"
+#include  "Speaker.h"
+#include "ReceiverIR.h"
+#define TEST_LOOP_BACK  0
+#define DEBOUNCEDELAY 500
+//pines libres p15,p16,p17,p19,p30, "p26 socket IF-r" 
+Serial Bt(p9,p10);
+Serial Wf(p28,p27);
+Serial Pc(USBTX, USBRX);
+ReceiverIR IR_Receiver(p15);
+PwmOut IR_Transmitter(p26); 
+DigitalOut Lights(p19);
+DigitalOut Motor2A(p7);
+DigitalOut Motor2B(p6);
+DigitalOut Motor4A(p13);
+DigitalOut Motor4B(p14);
+DigitalOut Motor3A(p8);
+DigitalOut Motor3B(p5);
+DigitalOut Motor1A(p12);
+DigitalOut Motor1B(p11);
+Servo myservo1(p21);
+Servo myservo2(p22);
+Servo myservo3(p23);
+Servo myservo4(p24);
+Speaker mySpeaker(p18);
+char K,F;
+int u,l=0;
+float max = 0.0006;
+float min = -0.0005;
+float position1 = 0.0,position2 = 0.0;
+    int receive(RemoteIR::Format *format, uint8_t *buf, int bufsiz, int timeout = 100)
+ {
+    int cnt = 0;
+    while (IR_Receiver.getState() != ReceiverIR::Received) {cnt++;if (timeout < cnt) {return -1;}}
+    return IR_Receiver.getData(format, buf, bufsiz * 8);
+ }
+/////////IR Transmitter
+short Power_On_Off[] = {  2460, 543, 1290, 514, 692, 507, 1289, 514, 692, 507, 1290, 514,  691, 507, 690, 508, 1289, 516, 717, 481,690, 508, 689,  508, 692, 25634,};
+
+short Volume_Up[] =    {  2500,440,700,480,1280,460,680,480,700,460,1300,460,700,460,700,460,1280,460,700,480,700,460,680,480,700,25620,}; //Volume Up
+
+short Volume_Down[]=   {  2480,480, 1260,500, 1260,480, 680,500, 660,500, 1240,500, 680,480, 680,460, 1280,500, 660,500, 680,480, 680,480, 680,25040,}; 
+
+short One_B[]=         {  2480,460,700,460,700,460,720,440,720,460,700,460,700,460,720,440,1320,440,700,460,700,460,700,460,700,26800,};
+                
+short Two_B[]=         {  2500,440,1300,460,680,480,680,480,680,480,680,480,680,480,700,480,1280,460,680,480,680,480,700,460,700,26220,};
+               
+short Three_B[]=       {  2500,440,680,480,1300,440,700,480,680,480,680,480,680,480,680,500,1280,460,680,480,680,480,680,480,680,26240,};
+                 
+short Four_B[]=        {  2520,420,1300,460,1300,440,700,480,680,480,680,480,680,480,680,480,1300,460,680,480,680,480,680,480,680,25640,};
+                
+short Five_B[]=        {  2500,460,680,480,680,480,1300,440,680,500,680,480,680,480,680,480,1300,440,700,480,680,480,680,480,680,26220,};
+                                          
+void PowerOff()
+{
+    IR_Transmitter.period_us( 26 );int iCountHighLow = sizeof( Power_On_Off ) / sizeof( Power_On_Off[0] );
+    for( int iIndexHighLow = 0; iIndexHighLow < iCountHighLow; iIndexHighLow++ ) {IR_Transmitter.write( 0.5 * (1 - (iIndexHighLow % 2)) ); wait_us( Power_On_Off[iIndexHighLow] );}   
+}
+void VolumeUp()
+{
+    IR_Transmitter.period_us( 26 );int iCountHighLow = sizeof( Volume_Up ) / sizeof( Volume_Up[0] );
+    for( int iIndexHighLow = 0; iIndexHighLow < iCountHighLow; iIndexHighLow++ ) {IR_Transmitter.write( 0.5 * (1 - (iIndexHighLow % 2)) );wait_us( Volume_Up[iIndexHighLow] );}
+}
+void VolumeDown()
+{
+    IR_Transmitter.period_us( 26 );int iCountHighLow = sizeof( Volume_Down ) / sizeof( Volume_Down[0] );
+    for( int iIndexHighLow = 0; iIndexHighLow < iCountHighLow; iIndexHighLow++ ) {IR_Transmitter.write( 0.5 * (1 - (iIndexHighLow % 2)) );wait_us( Volume_Down[iIndexHighLow] );}
+}
+void One()
+{
+     IR_Transmitter.period_us( 26 ); int iCountHighLow = sizeof( One_B ) / sizeof( One_B[0] );
+     for( int iIndexHighLow = 0; iIndexHighLow < iCountHighLow; iIndexHighLow++ ) {IR_Transmitter.write( 0.5 * (1 - (iIndexHighLow % 2)) );wait_us( One_B[iIndexHighLow] );}
+    
+}
+void Two()
+{
+    IR_Transmitter.period_us( 26 ); int iCountHighLow = sizeof( Two_B ) / sizeof( Two_B[0] );
+    for( int iIndexHighLow = 0; iIndexHighLow < iCountHighLow; iIndexHighLow++ ) {IR_Transmitter.write( 0.5 * (1 - (iIndexHighLow % 2)) );wait_us( Two_B[iIndexHighLow] );}
+}
+void Three()
+{
+    IR_Transmitter.period_us( 26 );int iCountHighLow = sizeof( Three_B ) / sizeof( Three_B[0] );
+    for( int iIndexHighLow = 0; iIndexHighLow < iCountHighLow; iIndexHighLow++ ) {IR_Transmitter.write( 0.5 * (1 - (iIndexHighLow % 2)) );wait_us( Three_B[iIndexHighLow] );}
+}
+void Four()
+{
+    IR_Transmitter.period_us( 26 );int iCountHighLow = sizeof( Four_B ) / sizeof( Four_B[0] );
+    for( int iIndexHighLow = 0; iIndexHighLow < iCountHighLow; iIndexHighLow++ ) {IR_Transmitter.write( 0.5 * (1 - (iIndexHighLow % 2)) );wait_us( Four_B[iIndexHighLow] );}
+}  
+void Five()
+{
+    IR_Transmitter.period_us( 26 );int iCountHighLow = sizeof( Five_B ) / sizeof( Five_B[0] );
+    for( int iIndexHighLow = 0; iIndexHighLow < iCountHighLow; iIndexHighLow++ ) {IR_Transmitter.write( 0.5 * (1 - (iIndexHighLow % 2)) );wait_us( Five_B[iIndexHighLow] );}
+}
+
+int main() {
+ Timer timer;
+ timer.start();
+ int D1A,D1B,D2A,D2B,D3A,D3B,D4A,D4B,x4,y4,x2,y2;
+ int iMilliSec_prev = timer.read_ms();
+     myservo1.calibrate_max(max, 90); myservo1.calibrate_min(min, 0);
+     myservo2.calibrate_max(max, 90); myservo2.calibrate_min(min, 0);
+     myservo3.calibrate_max(max, 90); myservo3.calibrate_min(min, 0);
+     myservo4.calibrate_max(max, 90); myservo4.calibrate_min(min, 0);
+     myservo1 =0.95;myservo2 = 0.0; myservo3= 0.90; myservo4 =0.0;D1A=1,D1B=0,D2A=1,D2B=0,D3A=1,D3B=0,D4A=1,D4B=0 ;x2=D2A; y2=D2B; x4=D4A; y4=D4B;
+  while(1) {
+    Motor1A=0; Motor1B=0; Motor2A=0; Motor2B=0;  Motor3A=0; Motor3B=0; Motor4A=0; Motor4B=0; // Motor Stop
+    if (Bt.readable()){K=Bt.getc();}
+    if (Wf.readable()){K=Wf.getc();}
+    if (Pc.readable()){K=Pc.getc();}
+///////////   Infrared Transmitter   //////////////    
+    if (K=='1'){ One();        IR_Transmitter=0;IR_Transmitter.period(0.020);K=0;}
+    if (K=='2'){ Two();        IR_Transmitter=0;IR_Transmitter.period(0.020);K=0;}
+    if (K=='3'){ Three();      IR_Transmitter=0;IR_Transmitter.period(0.020);K=0;}
+    if (K=='4'){ Four();       IR_Transmitter=0;IR_Transmitter.period(0.020);K=0;}
+    if (K=='5'){ Five();       IR_Transmitter=0;IR_Transmitter.period(0.020);K=0;}
+    if (K=='p'){ PowerOff();   IR_Transmitter=0;IR_Transmitter.period(0.020);K=0;}
+    if (K=='u'){ VolumeUp();   IR_Transmitter=0;IR_Transmitter.period(0.020);K=0;}
+    if (K=='d'){ VolumeDown(); IR_Transmitter=0;IR_Transmitter.period(0.020);K=0;}
+///////////   Servo   //////////////     
+    if (K=='7'){ myservo1 =0.0;  myservo2 = .90;  myservo3= 0.0; myservo4 =.90; D1A=1,D1B=0,D2A=0,D2B=1,D3A=1,D3B=0,D4A=0,D4B=1; x2=D2B; y2=D2A; x4=D4B; y4=D4A;}
+    if (K=='8'){ myservo1 =0.5;  myservo2 = 0.5 ; myservo3= 0.5; myservo4 =0.5;}
+    if (K=='9'){ myservo1 =.90;  myservo2 = 0.0;  myservo3= .90; myservo4 =0; D1A=1,D1B=0,D2A=1,D2B=0,D3A=1,D3B=0,D4A=1,D4B=0 ;x2=D2A; y2=D2B; x4=D4A; y4=D4B;}
+    if (K=='6'){ myservo1 =0; myservo2 = 0; myservo3= 0; myservo4 =0;K=0;}
+///////////   Lights  //////////////     
+    if (K=='l'){ if(l==1){Lights=0;l=0;K=0;}else {Lights=1;l=1;K=0;}}
+///////////   Wifly Config   //////////////     
+    if (K=='c'){ while(1){while(Bt.readable())Wf.putc(Bt.getc());while(Wf.readable())Bt.putc(Wf.getc());}}
+///////////   Claxon   ////////////// 
+    if (K=='k'){  mySpeaker.PlayNote(969.0, 0.5, 1.0);mySpeaker.PlayNote(800.0, 0.5, 1.0);K=0;}
+///////////   Motores   ////////////// 
+    if (K==0x41||K=='t'){Motor1A=D1A; Motor1B=D1B; Motor2A=D2A; Motor2B=D2B;  Motor3A=D3A; Motor3B=D3B; Motor4A=D4A; Motor4B=D4B; wait(0.1); K=0;} //forward
+    if (K==0x42||K=='g'){Motor1A=D1B; Motor1B=D1A; Motor2A=D2B; Motor2B=D2A;  Motor3A=D3B; Motor3B=D3A; Motor4A=D4B; Motor4B=D4A; wait(0.1); K=0;} //backward
+    if (K==0x43||K=='h'){Motor1A=D1B; Motor1B=D1A; Motor3A=D3A; Motor3B=D3B; Motor2A=x2; Motor2B=y2;   Motor4A=y4; Motor4B=x4; wait(0.016);  K=0;} //right
+    if (K==0x44||K=='f'){Motor1A=D1A; Motor1B=D1B; Motor3A=D3B; Motor3B=D3A; Motor2A=y2; Motor2B=x2;   Motor4A=x4; Motor4B=y4; wait(0.016);  K=0;} //left
+   
+    Wf.printf("\n\r");
+   Pc.printf("%c",K);
+///////////   Infrared Receiver   ////////////// 
+     uint8_t buf1[32];
+     int bitlength1; 
+     RemoteIR::Format format;memset(buf1, 0x00, sizeof(buf1));bitlength1 = receive(&format, buf1, sizeof(buf1));
+     if (bitlength1 < 0) {continue;}
+     for (int i = 0; i <4; i++) 
+     {for (int i = 0; i <1; i++) 
+             { u=buf1[i];
+               if(u==244){K=0x41;} // Forward
+               if(u==245){K=0x42;}// Backward
+               if(u==179){K=0x43;}// Right
+               if(u==180){K=0x44;}//Left
+               if(u==229){K=0x0D;}//Horn
+               if(u==133){K='6';}// Servos Position 0 movement
+               if(u==134){K='7';}// Servos left movement
+               if(u==135){K='8';}// Servos Star movement
+               if(u==136){K='9';}// Servos Right movement
+               if(u==149){K='o';}// Robot on
+               if(u==224){K='l';}// Lights
+               if(u==139){K='p';}// Tv on/off
+             }
+      }
+       Bt.printf("%i",u); Bt.printf("\n\r");
+    }
+}
+
+
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Fri Jun 27 23:39:12 2014 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/6473597d706e
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mylib/RemoteIR.lib	Fri Jun 27 23:39:12 2014 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/shintamainjp/code/RemoteIR/#268cc2ab63bd

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/wav_header.lib	Fri Jun 27 23:39:12 2014 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/rsartin3/code/wav_header/#a50bba1964ec

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/wave_player.lib	Fri Jun 27 23:39:12 2014 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/sravet/code/wave_player/#acc3e18e77ad