Dave Patel / Mbed 2 deprecated MrBoombaBT

ECE 4180 Final Project - Bluetooth Controlled Robot that aims/fires a Digital Output Device, in this case, a laser or buzzer

Dependencies:   mbed Servo

main.cpp@0:b5ac3f893191, 2020-04-29 (annotated)

Committer:
dpatel344
Date:
Wed Apr 29 18:29:34 2020 +0000
Revision:
0:b5ac3f893191
Final ;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dpatel344 0:b5ac3f893191 1 #include "mbed.h"
dpatel344 0:b5ac3f893191 2 #include "Servo.h"
dpatel344 0:b5ac3f893191 3
dpatel344 0:b5ac3f893191 4 Serial bt(p28,p27); //tx,rx
dpatel344 0:b5ac3f893191 5
dpatel344 0:b5ac3f893191 6 Servo pan(p24);
dpatel344 0:b5ac3f893191 7 Servo tilt(p23);
dpatel344 0:b5ac3f893191 8
dpatel344 0:b5ac3f893191 9 PwmOut left(p21);
dpatel344 0:b5ac3f893191 10 PwmOut right(p22);
dpatel344 0:b5ac3f893191 11
dpatel344 0:b5ac3f893191 12 DigitalOut fwdl(p5);
dpatel344 0:b5ac3f893191 13 DigitalOut revl(p6);
dpatel344 0:b5ac3f893191 14
dpatel344 0:b5ac3f893191 15 DigitalOut laser(p7);
dpatel344 0:b5ac3f893191 16
dpatel344 0:b5ac3f893191 17 DigitalOut fwdr(p11);
dpatel344 0:b5ac3f893191 18 DigitalOut revr(p12);
dpatel344 0:b5ac3f893191 19
dpatel344 0:b5ac3f893191 20 union packet {
dpatel344 0:b5ac3f893191 21
dpatel344 0:b5ac3f893191 22 float f;
dpatel344 0:b5ac3f893191 23 char c[4];
dpatel344 0:b5ac3f893191 24
dpatel344 0:b5ac3f893191 25 };
dpatel344 0:b5ac3f893191 26
dpatel344 0:b5ac3f893191 27 int main() {
dpatel344 0:b5ac3f893191 28
dpatel344 0:b5ac3f893191 29 char button, temp = 0;
dpatel344 0:b5ac3f893191 30 union packet x, y; // range is -10 to 10
dpatel344 0:b5ac3f893191 31
dpatel344 0:b5ac3f893191 32 // initialize servo to middle, motors off, and laser off
dpatel344 0:b5ac3f893191 33 fwdl = revl = fwdr = revr = 0;
dpatel344 0:b5ac3f893191 34 left = right = 0.0;
dpatel344 0:b5ac3f893191 35 pan = 0.5;
dpatel344 0:b5ac3f893191 36 tilt = 0.225;
dpatel344 0:b5ac3f893191 37 laser = 0;
dpatel344 0:b5ac3f893191 38
dpatel344 0:b5ac3f893191 39 while (1) {
dpatel344 0:b5ac3f893191 40
dpatel344 0:b5ac3f893191 41 if (bt.getc() == '!') {
dpatel344 0:b5ac3f893191 42
dpatel344 0:b5ac3f893191 43 button = bt.getc();
dpatel344 0:b5ac3f893191 44 switch (button) {
dpatel344 0:b5ac3f893191 45
dpatel344 0:b5ac3f893191 46 case 'B': // if button
dpatel344 0:b5ac3f893191 47
dpatel344 0:b5ac3f893191 48 button = bt.getc();
dpatel344 0:b5ac3f893191 49 //state = bt.getc();
dpatel344 0:b5ac3f893191 50
dpatel344 0:b5ac3f893191 51 switch (button) {
dpatel344 0:b5ac3f893191 52
dpatel344 0:b5ac3f893191 53 case '1': // toggle the laser/digital output device on pin 7
dpatel344 0:b5ac3f893191 54
dpatel344 0:b5ac3f893191 55 //if (state == '1') {
dpatel344 0:b5ac3f893191 56
dpatel344 0:b5ac3f893191 57 laser = !laser;
dpatel344 0:b5ac3f893191 58 break;
dpatel344 0:b5ac3f893191 59
dpatel344 0:b5ac3f893191 60 //}
dpatel344 0:b5ac3f893191 61
dpatel344 0:b5ac3f893191 62 case '2': // recenter the servos
dpatel344 0:b5ac3f893191 63
dpatel344 0:b5ac3f893191 64 //if (state == '1') {
dpatel344 0:b5ac3f893191 65
dpatel344 0:b5ac3f893191 66 tilt = 0.225;
dpatel344 0:b5ac3f893191 67 pan = 0.5;
dpatel344 0:b5ac3f893191 68 wait(0.2);
dpatel344 0:b5ac3f893191 69 break;
dpatel344 0:b5ac3f893191 70
dpatel344 0:b5ac3f893191 71 //}
dpatel344 0:b5ac3f893191 72
dpatel344 0:b5ac3f893191 73 case '5': // forward
dpatel344 0:b5ac3f893191 74
dpatel344 0:b5ac3f893191 75 //if (state == '1') {
dpatel344 0:b5ac3f893191 76
dpatel344 0:b5ac3f893191 77 if (tilt <= 0.05) {tilt = 0.0;}
dpatel344 0:b5ac3f893191 78 else {tilt = tilt - 0.05;}
dpatel344 0:b5ac3f893191 79 wait(0.1);
dpatel344 0:b5ac3f893191 80 break;
dpatel344 0:b5ac3f893191 81
dpatel344 0:b5ac3f893191 82 //}
dpatel344 0:b5ac3f893191 83
dpatel344 0:b5ac3f893191 84 case '6': // backward
dpatel344 0:b5ac3f893191 85
dpatel344 0:b5ac3f893191 86 //if (state == '1') {
dpatel344 0:b5ac3f893191 87
dpatel344 0:b5ac3f893191 88 if (tilt >= 0.40) {tilt = 0.45;}
dpatel344 0:b5ac3f893191 89 else {tilt = tilt + 0.05;}
dpatel344 0:b5ac3f893191 90 wait(0.1);
dpatel344 0:b5ac3f893191 91 break;
dpatel344 0:b5ac3f893191 92
dpatel344 0:b5ac3f893191 93 //}
dpatel344 0:b5ac3f893191 94
dpatel344 0:b5ac3f893191 95 case '7': // right
dpatel344 0:b5ac3f893191 96
dpatel344 0:b5ac3f893191 97 //if (state == '1') {
dpatel344 0:b5ac3f893191 98
dpatel344 0:b5ac3f893191 99 if (pan <= 0.05) {pan = 0.0;}
dpatel344 0:b5ac3f893191 100 else {pan = pan - 0.05;}
dpatel344 0:b5ac3f893191 101 wait(0.1);
dpatel344 0:b5ac3f893191 102 break;
dpatel344 0:b5ac3f893191 103
dpatel344 0:b5ac3f893191 104 //}
dpatel344 0:b5ac3f893191 105
dpatel344 0:b5ac3f893191 106
dpatel344 0:b5ac3f893191 107 case '8': // left
dpatel344 0:b5ac3f893191 108
dpatel344 0:b5ac3f893191 109 //if (state == '1') {
dpatel344 0:b5ac3f893191 110
dpatel344 0:b5ac3f893191 111 if (pan >= 0.95) {pan = 1.0;}
dpatel344 0:b5ac3f893191 112 else {pan = pan + 0.05;}
dpatel344 0:b5ac3f893191 113 wait(0.1);
dpatel344 0:b5ac3f893191 114 break;
dpatel344 0:b5ac3f893191 115
dpatel344 0:b5ac3f893191 116 // }
dpatel344 0:b5ac3f893191 117
dpatel344 0:b5ac3f893191 118 }
dpatel344 0:b5ac3f893191 119 break;
dpatel344 0:b5ac3f893191 120
dpatel344 0:b5ac3f893191 121 case 'A': // otherwise accelerometer
dpatel344 0:b5ac3f893191 122
dpatel344 0:b5ac3f893191 123 // fetch and store accelerometer data
dpatel344 0:b5ac3f893191 124
dpatel344 0:b5ac3f893191 125 for (int i = 0; i < 4; i++) {
dpatel344 0:b5ac3f893191 126
dpatel344 0:b5ac3f893191 127 temp = bt.getc();
dpatel344 0:b5ac3f893191 128 x.c[i] = temp;
dpatel344 0:b5ac3f893191 129
dpatel344 0:b5ac3f893191 130 }
dpatel344 0:b5ac3f893191 131
dpatel344 0:b5ac3f893191 132 for (int i = 0; i < 4; i++) {
dpatel344 0:b5ac3f893191 133
dpatel344 0:b5ac3f893191 134 temp = bt.getc();
dpatel344 0:b5ac3f893191 135 y.c[i] = temp;
dpatel344 0:b5ac3f893191 136
dpatel344 0:b5ac3f893191 137 }
dpatel344 0:b5ac3f893191 138
dpatel344 0:b5ac3f893191 139 // final loop to capture Z accelerometer data (NOT USED)
dpatel344 0:b5ac3f893191 140 for (int i = 0; i < 4; i++) {
dpatel344 0:b5ac3f893191 141
dpatel344 0:b5ac3f893191 142 temp = bt.getc();
dpatel344 0:b5ac3f893191 143
dpatel344 0:b5ac3f893191 144 }
dpatel344 0:b5ac3f893191 145
dpatel344 0:b5ac3f893191 146 temp = bt.getc();
dpatel344 0:b5ac3f893191 147
dpatel344 0:b5ac3f893191 148 // read accelerometer data and control motors
dpatel344 0:b5ac3f893191 149
dpatel344 0:b5ac3f893191 150 if (x.f <= -2.0) { // left
dpatel344 0:b5ac3f893191 151
dpatel344 0:b5ac3f893191 152 fwdl = fwdr = 1;
dpatel344 0:b5ac3f893191 153 revl = revr = 0;
dpatel344 0:b5ac3f893191 154 left = 0.1;
dpatel344 0:b5ac3f893191 155 right = 1.0;
dpatel344 0:b5ac3f893191 156
dpatel344 0:b5ac3f893191 157 }
dpatel344 0:b5ac3f893191 158
dpatel344 0:b5ac3f893191 159 else if (x.f >= 2.0) { // right
dpatel344 0:b5ac3f893191 160
dpatel344 0:b5ac3f893191 161 fwdl = fwdr = 1;
dpatel344 0:b5ac3f893191 162 revl = revr = 0;
dpatel344 0:b5ac3f893191 163 left = 1.0;
dpatel344 0:b5ac3f893191 164 right = 0.1;
dpatel344 0:b5ac3f893191 165
dpatel344 0:b5ac3f893191 166 }
dpatel344 0:b5ac3f893191 167
dpatel344 0:b5ac3f893191 168 else { // if no tilt, make sure that motors are disengaged
dpatel344 0:b5ac3f893191 169
dpatel344 0:b5ac3f893191 170 fwdl = fwdr = revl = revr = 0;
dpatel344 0:b5ac3f893191 171 left = right = 0.0;
dpatel344 0:b5ac3f893191 172 }
dpatel344 0:b5ac3f893191 173
dpatel344 0:b5ac3f893191 174 if (y.f <= -2.0) { // reverse
dpatel344 0:b5ac3f893191 175
dpatel344 0:b5ac3f893191 176 fwdl = fwdr = 0;
dpatel344 0:b5ac3f893191 177 revl = revr = 1;
dpatel344 0:b5ac3f893191 178 right = left = 1.0;
dpatel344 0:b5ac3f893191 179
dpatel344 0:b5ac3f893191 180 }
dpatel344 0:b5ac3f893191 181
dpatel344 0:b5ac3f893191 182 else if (y.f >= 2.0) { // forward
dpatel344 0:b5ac3f893191 183
dpatel344 0:b5ac3f893191 184 fwdl = fwdr = 1;
dpatel344 0:b5ac3f893191 185 revl = revr = 0;
dpatel344 0:b5ac3f893191 186 right = left = 1.0;
dpatel344 0:b5ac3f893191 187
dpatel344 0:b5ac3f893191 188 }
dpatel344 0:b5ac3f893191 189
dpatel344 0:b5ac3f893191 190 break;
dpatel344 0:b5ac3f893191 191
dpatel344 0:b5ac3f893191 192 }
dpatel344 0:b5ac3f893191 193 }
dpatel344 0:b5ac3f893191 194 }
dpatel344 0:b5ac3f893191 195 }