Edwin Torres
Wirelessly controlled robot through Xbee
Dependencies: 4DGL-uLCD-SE Motordriver SDFileSystem mbed-rtos mbed wave_player
Fork of
XBee_read
by 
Alex Louden
Revision 1:9ec68db5fe52, committed 2016-11-04
- Comitter:
- etorres31
- Date:
- Fri Nov 04 16:25:35 2016 +0000
- Parent:
- 0:2eaf86314aea
- Commit message:
- Xbee robot code;
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/4DGL-uLCD-SE.lib Fri Nov 04 16:25:35 2016 +0000 @@ -0,0 +1,1 @@ +https://mbed.org/users/4180_1/code/4DGL-uLCD-SE/#e39a44de229a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Motordriver.lib Fri Nov 04 16:25:35 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/littlexc/code/Motordriver/#3110b9209d3c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SDFileSystem.lib Fri Nov 04 16:25:35 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/SDFileSystem/#8db0d3b02cec
--- a/main.cpp Fri Jun 04 10:23:38 2010 +0000
+++ b/main.cpp Fri Nov 04 16:25:35 2016 +0000
@@ -1,15 +1,84 @@
#include "mbed.h"
-#include "TextLCD.h"
+#include "uLCD_4DGL.h"
+#include "motordriver.h"
+#include "SDFileSystem.h"
+#include "wave_player.h"
-Serial xbee1(p9, p10);
+uLCD_4DGL uLCD(p28, p27, p30); // serial tx, serial rx, reset pin;
+
+Serial xbee1(p13,p14);
DigitalOut rst1(p11);
DigitalOut myled(LED1);
DigitalOut myled2(LED2);
-TextLCD lcd(p16, p15, p14, p17, p18, p19, p20); // rs, rw, e, d0, d1, d2, d3
+Motor left(p21, p22, p23, 1);
+Motor right(p26, p25, p24, 1);
+
+SDFileSystem sd(p5, p6, p7, p8, "sd");
+AnalogOut DACout(p18);
+wave_player waver(&DACout);
+int a = 0;
+int f = 0;
+int b = 0;
+int l = 0;
+int r = 0;
+
+void thread1(void const *args) {
+ while (true) {
+ while (f >0) {
+ FILE *wave_file;
+ wave_file=fopen("/sd/forward.wav","r");
+ waver.play(wave_file);
+ fclose(wave_file);
+ Thread::wait(100);
+ }
+ }
+}
+
+void thread2(void const *args) {
+ while (true) {
+ while (b >0) {
+ FILE *wave_file;
+ wave_file=fopen("/sd/backward.wav","r");
+ waver.play(wave_file);
+ fclose(wave_file);
+ Thread::wait(100);
+ }
+ }
+}
+
+void thread3(void const *args) {
+ while (true) {
+ while (l >0) {
+ FILE *wave_file;
+ wave_file=fopen("/sd/left.wav","r");
+ waver.play(wave_file);
+ fclose(wave_file);
+ Thread::wait(100);
+ }
+ }
+}
+
+void thread4(void const *args) {
+ while (true) {
+ while (r >0) {
+ FILE *wave_file;
+ wave_file=fopen("/sd/right.wav","r");
+ waver.play(wave_file);
+ fclose(wave_file);
+ Thread::wait(100);
+ }
+ }
+}
int main() {
+ Thread t1(thread1);
+ Thread t2(thread2);
+ Thread t3(thread3);
+ Thread t4(thread4);
+
+ uLCD.display_control(PORTRAIT);
rst1 = 0; //Set reset pin to 0
myled = 0;
myled2= 0;
@@ -17,27 +86,99 @@
rst1 = 1; //Set reset pin to 1
wait_ms(1);
- lcd.printf("starting");
+ uLCD.printf("starting");
wait(2);
- lcd.cls();
+ uLCD.cls();
- int a = 0;
+
int prev = 0;
-
- while (1) {
-
+ float base = 0.1;
+ float lSpeed = 0.0;
+ float rSpeed = 0.0;
+ while (1) {
+ //uLCD.printf("wating");
if(xbee1.readable()){
+
prev = a;
a = xbee1.getc(); //XBee read
+ if (a !=0) {
+ switch(a) {
+ case 1 : //forward
+ //uLCD.cls();
+ f++;
+ lSpeed = f*base*-1;
+ rSpeed = f*base*-1;
+ break;
+ case 2 : //reverse
+ b++;
+ lSpeed = b*base;
+ rSpeed = b*base;
+ break;
+ case 3 : //counter clockwise roation
+ l++;
+ lSpeed = l*base*-1;
+ rSpeed = l*base;
+ break;
+ case 4 : //clockwise rotation
+ r++;
+ lSpeed = r*base;
+ rSpeed = r*base*-1;
+ break;
+ case 5 : //stop/reset
+ f = 0;
+ b = 0;
+ l = 0;
+ r = 0;
+ lSpeed = 0.0;
+ rSpeed = 0.0;
+ break;
+ default :
+ //left.speed(0.0);
+ //right.speed(0.0);
+ }
+ }
+ //uLCD.printf("move");
+ left.speed(lSpeed);
+ right.speed(rSpeed);
+ /*if (a == 1) {
+ left.speed(-0.7);
+ right.speed(-0.7);
+
+ wave_file=fopen("/sd/fire.wav","r");
+ waver.play(wave_file);
+ fclose(wave_file);
+ } else if (a == 2) {
+ left.speed(0.7);
+ right.speed(0.7);
+ } else if (a == 3) {
+ left.speed(-0.7);
+ right.speed(0.7);
+ } else if (a == 4) {
+ left.speed(0.7);
+ right.speed(-0.7);
+ } else if (a == 5) {
+ left.speed(0);
+ right.speed(0);
+ } */
if (a != prev){
- if (a < 10){
- lcd.printf("%d", a);
- }
- if (a == 254 || a == 253){
- lcd.cls();
- }
+
+ uLCD.cls();
+ //uLCD.text_width(3); //1X size text
+ //uLCD.text_height(3);
+ //uLCD.locate(64,64);
+ //uLCD.printf("%d", a);
+ uLCD.printf("%f", lSpeed);
+ uLCD.printf(" ");
+ uLCD.printf("%d", b);
+ uLCD.printf(" ");
+ uLCD.printf("%d", a);
+ uLCD.printf(" ");
+ uLCD.printf("%f", rSpeed);
+
}
+
}
+ a = 0;
}
}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-rtos.lib Fri Nov 04 16:25:35 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed-rtos/#3da5f554d8bf
--- a/mbed.bld Fri Jun 04 10:23:38 2010 +0000 +++ b/mbed.bld Fri Nov 04 16:25:35 2016 +0000 @@ -1,1 +1,1 @@ -http://mbed.org/users/mbed_official/code/mbed/builds/029aa53d7323 +http://mbed.org/users/mbed_official/code/mbed/builds/9bcdf88f62b0 \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/wave_player.lib Fri Nov 04 16:25:35 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/sravet/code/wave_player/#acc3e18e77ad