James Hilder / Mbed 2 deprecated Pi_Swarm_Handheld_Controller

Handheld controller (RF) for Pi Swarm system

Dependencies:   mbed

Fork of Pi_Swarm_Handheld_Controller by piswarm

main.cpp@0:d63a63feb104, 2014-06-10 (annotated)

Committer:
jah128
Date:
Tue Jun 10 11:05:23 2014 +0000
Revision:
0:d63a63feb104
Handheld controller for Pi Swarm (old code)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jah128 0:d63a63feb104 1 /*******************************************************************************************
jah128 0:d63a63feb104 2 *
jah128 0:d63a63feb104 3 * University of York Robot Lab Pi Swarm Handheld Controller Software
jah128 0:d63a63feb104 4 *
jah128 0:d63a63feb104 5 * (C) Dr James Hilder, Dept. Electronics & Computer Science, University of York
jah128 0:d63a63feb104 6 *
jah128 0:d63a63feb104 7 * Version 0.5 February 2014
jah128 0:d63a63feb104 8 *
jah128 0:d63a63feb104 9 * Designed for use with the Pi Swarm Board (enhanced MBED sensor board) v1.2
jah128 0:d63a63feb104 10 *
jah128 0:d63a63feb104 11 ******************************************************************************************/
jah128 0:d63a63feb104 12
jah128 0:d63a63feb104 13 #include "mbed.h"
jah128 0:d63a63feb104 14 #include "main.h"
jah128 0:d63a63feb104 15 #include "communications.h"
jah128 0:d63a63feb104 16 #include "display.h"
jah128 0:d63a63feb104 17
jah128 0:d63a63feb104 18 Serial pc (USBTX, USBRX);
jah128 0:d63a63feb104 19 DigitalOut myled(LED1);
jah128 0:d63a63feb104 20 Display display;
jah128 0:d63a63feb104 21 Alpha433 rf;
jah128 0:d63a63feb104 22 Ticker switch_ticker;
jah128 0:d63a63feb104 23 DigitalIn switch_up(p21);
jah128 0:d63a63feb104 24 DigitalIn switch_upright(p22);
jah128 0:d63a63feb104 25 DigitalIn switch_right(p23);
jah128 0:d63a63feb104 26 DigitalIn switch_downright(p24);
jah128 0:d63a63feb104 27 DigitalIn switch_down(p25);
jah128 0:d63a63feb104 28 DigitalIn switch_downleft(p26);
jah128 0:d63a63feb104 29 DigitalIn switch_left(p27);
jah128 0:d63a63feb104 30 DigitalIn switch_upleft(p29);
jah128 0:d63a63feb104 31 DigitalIn switch_center(p28);
jah128 0:d63a63feb104 32 DigitalOut tx_led(p18);
jah128 0:d63a63feb104 33 DigitalOut rx_led(p17);
jah128 0:d63a63feb104 34 char target_id = 0;
jah128 0:d63a63feb104 35 int switch_state = 0;
jah128 0:d63a63feb104 36 int speed_mode = 0;
jah128 0:d63a63feb104 37 float speed = 0.1;
jah128 0:d63a63feb104 38
jah128 0:d63a63feb104 39 void handleUserRFCommand(char sender, char broadcast_message, char request_response, char id, char is_command, char function, char * data, char length){
jah128 0:d63a63feb104 40 // A 'user' RF Command has been received: write the code here to process it
jah128 0:d63a63feb104 41 // sender = ID of the sender, range 0 to 31
jah128 0:d63a63feb104 42 // broadcast_message = 1 is message sent to all robots, 0 otherwise
jah128 0:d63a63feb104 43 // request_response = 1 if a response is expected, 0 otherwise
jah128 0:d63a63feb104 44 // id = Message ID, range 0 to 255
jah128 0:d63a63feb104 45 // is_command = 1 is message is a command, 0 if it is a request. If RF_ALLOW_COMMANDS is not selected, only requests will be sent to this block
jah128 0:d63a63feb104 46 // function = The function identifier. Range 0 to 15
jah128 0:d63a63feb104 47 // * data = Array containing extra data bytes
jah128 0:d63a63feb104 48 // length = Length of extra data bytes held (range 0 to 57)
jah128 0:d63a63feb104 49
jah128 0:d63a63feb104 50 }
jah128 0:d63a63feb104 51
jah128 0:d63a63feb104 52 void handleUserRFResponse(char sender, char broadcast_message, char success, char id, char is_command, char function, char * data, char length){
jah128 0:d63a63feb104 53 // A 'user' RF Response has been received: write the code here to process it
jah128 0:d63a63feb104 54 // sender = ID of the sender, range 0 to 31
jah128 0:d63a63feb104 55 // broadcast_message = 1 is message sent to all robots, 0 otherwise
jah128 0:d63a63feb104 56 // success = 1 if operation successful, 0 otherwise
jah128 0:d63a63feb104 57 // id = Message ID, range 0 to 255
jah128 0:d63a63feb104 58 // is_command = 1 is message is a command, 0 if it is a request. If RF_ALLOW_COMMANDS is not selected, only requests will be sent to this block
jah128 0:d63a63feb104 59 // function = The function identifier. Range 0 to 15
jah128 0:d63a63feb104 60 // * data = Array containing extra data bytes
jah128 0:d63a63feb104 61 // length = Length of extra data bytes held (range 0 to 57)
jah128 0:d63a63feb104 62
jah128 0:d63a63feb104 63 }
jah128 0:d63a63feb104 64
jah128 0:d63a63feb104 65
jah128 0:d63a63feb104 66 void processRawRFData(char * rstring, char cCount){
jah128 0:d63a63feb104 67 // A raw RF packet has been received: write the code here to process it
jah128 0:d63a63feb104 68 // rstring = The received packet
jah128 0:d63a63feb104 69 // cCount = Packet length
jah128 0:d63a63feb104 70 }
jah128 0:d63a63feb104 71
jah128 0:d63a63feb104 72 void check_switch()
jah128 0:d63a63feb104 73 {
jah128 0:d63a63feb104 74 int new_state = 0;
jah128 0:d63a63feb104 75 if(!switch_up) new_state = 1;
jah128 0:d63a63feb104 76 if(!switch_upright) new_state = 2;
jah128 0:d63a63feb104 77 if(!switch_right) new_state = 3;
jah128 0:d63a63feb104 78 if(!switch_downright) new_state=4;
jah128 0:d63a63feb104 79 if(!switch_down) new_state=5;
jah128 0:d63a63feb104 80 if(!switch_downleft) new_state=6;
jah128 0:d63a63feb104 81 if(!switch_left) new_state=7;
jah128 0:d63a63feb104 82 if(!switch_upleft) new_state=8;
jah128 0:d63a63feb104 83 if(!switch_center) new_state=9;
jah128 0:d63a63feb104 84 if(new_state!=switch_state) {
jah128 0:d63a63feb104 85 switch_state=new_state;
jah128 0:d63a63feb104 86 display.set_position(0,8);
jah128 0:d63a63feb104 87 switch(switch_state) {
jah128 0:d63a63feb104 88 case 0:
jah128 0:d63a63feb104 89 display.printf(" ");
jah128 0:d63a63feb104 90 break;
jah128 0:d63a63feb104 91 case 1:
jah128 0:d63a63feb104 92 display.printf("UP ");
jah128 0:d63a63feb104 93 break;
jah128 0:d63a63feb104 94 case 2:
jah128 0:d63a63feb104 95 display.printf("UP-RIGHT ");
jah128 0:d63a63feb104 96 break;
jah128 0:d63a63feb104 97 case 3:
jah128 0:d63a63feb104 98 display.printf("RIGHT ");
jah128 0:d63a63feb104 99 break;
jah128 0:d63a63feb104 100 case 4:
jah128 0:d63a63feb104 101 display.printf("DOWN-RIGHT");
jah128 0:d63a63feb104 102 break;
jah128 0:d63a63feb104 103 case 5:
jah128 0:d63a63feb104 104 display.printf("DOWN ");
jah128 0:d63a63feb104 105 break;
jah128 0:d63a63feb104 106 case 6:
jah128 0:d63a63feb104 107 display.printf("DOWN-LEFT ");
jah128 0:d63a63feb104 108 break;
jah128 0:d63a63feb104 109 case 7:
jah128 0:d63a63feb104 110 display.printf("LEFT ");
jah128 0:d63a63feb104 111 break;
jah128 0:d63a63feb104 112 case 8:
jah128 0:d63a63feb104 113 display.printf("UP-LEFT ");
jah128 0:d63a63feb104 114 break;
jah128 0:d63a63feb104 115 case 9:
jah128 0:d63a63feb104 116 display.printf("CENTER ");
jah128 0:d63a63feb104 117 speed_mode ++;
jah128 0:d63a63feb104 118 if (speed_mode == 4) speed_mode = 0;
jah128 0:d63a63feb104 119 switch(speed_mode){
jah128 0:d63a63feb104 120 case 0: speed = 0.1;break;
jah128 0:d63a63feb104 121 case 1: speed = 0.2;break;
jah128 0:d63a63feb104 122 case 2: speed = 0.5;break;
jah128 0:d63a63feb104 123 case 3: speed = 1.0;break;
jah128 0:d63a63feb104 124 }
jah128 0:d63a63feb104 125 display.set_position(1,0);
jah128 0:d63a63feb104 126 display.printf("Speed: %.1f",speed);
jah128 0:d63a63feb104 127 break;
jah128 0:d63a63feb104 128 }
jah128 0:d63a63feb104 129 transmit_message();
jah128 0:d63a63feb104 130 }
jah128 0:d63a63feb104 131 }
jah128 0:d63a63feb104 132
jah128 0:d63a63feb104 133 void transmit_message()
jah128 0:d63a63feb104 134 {
jah128 0:d63a63feb104 135 tx_led = 1;
jah128 0:d63a63feb104 136 switch(switch_state){
jah128 0:d63a63feb104 137 case 0: send_rf_command_stop(target_id,1);break;
jah128 0:d63a63feb104 138 case 1: send_rf_command_forward(target_id,1,speed);break;
jah128 0:d63a63feb104 139 case 5: send_rf_command_backward(target_id,1,speed);break;
jah128 0:d63a63feb104 140 case 7: send_rf_command_left(target_id,1,speed);break;
jah128 0:d63a63feb104 141 case 3: send_rf_command_right(target_id,1,speed);break;
jah128 0:d63a63feb104 142 case 9: send_rf_message(target_id,0x32,"Hello",5);break;
jah128 0:d63a63feb104 143 }
jah128 0:d63a63feb104 144 wait(0.1);
jah128 0:d63a63feb104 145 tx_led=0;
jah128 0:d63a63feb104 146 }
jah128 0:d63a63feb104 147
jah128 0:d63a63feb104 148 int main()
jah128 0:d63a63feb104 149 {
jah128 0:d63a63feb104 150 pc.baud(PC_BAUD);
jah128 0:d63a63feb104 151 display.init_display();
jah128 0:d63a63feb104 152 display.printf("YORK ROBOTICS LAB PI-SWARM CONTROLLER Software 0.5");
jah128 0:d63a63feb104 153 wait(2.0);
jah128 0:d63a63feb104 154 display.clear_display();
jah128 0:d63a63feb104 155 display.printf("Command:");
jah128 0:d63a63feb104 156 rf.rf_init();
jah128 0:d63a63feb104 157 rf.setFrequency(435000000);
jah128 0:d63a63feb104 158 rf.setDatarate(57600);
jah128 0:d63a63feb104 159 setup_switches();
jah128 0:d63a63feb104 160 switch_ticker.attach( &check_switch , 0.05 );
jah128 0:d63a63feb104 161 while(1) {
jah128 0:d63a63feb104 162 myled = 1;
jah128 0:d63a63feb104 163 // rx_led=1;
jah128 0:d63a63feb104 164 // tx_led=0;
jah128 0:d63a63feb104 165 wait(0.5);
jah128 0:d63a63feb104 166 // rx_led=0;
jah128 0:d63a63feb104 167 // tx_led=1;
jah128 0:d63a63feb104 168 myled = 0;
jah128 0:d63a63feb104 169 wait(0.5);
jah128 0:d63a63feb104 170 }
jah128 0:d63a63feb104 171
jah128 0:d63a63feb104 172 }
jah128 0:d63a63feb104 173
jah128 0:d63a63feb104 174 void setup_switches()
jah128 0:d63a63feb104 175 {
jah128 0:d63a63feb104 176 switch_center.mode(PullUp);
jah128 0:d63a63feb104 177 switch_up.mode(PullUp);
jah128 0:d63a63feb104 178 switch_upleft.mode(PullUp);
jah128 0:d63a63feb104 179 switch_left.mode(PullUp);
jah128 0:d63a63feb104 180 switch_downleft.mode(PullUp);
jah128 0:d63a63feb104 181 switch_down.mode(PullUp);
jah128 0:d63a63feb104 182 switch_downright.mode(PullUp);
jah128 0:d63a63feb104 183 switch_right.mode(PullUp);
jah128 0:d63a63feb104 184 switch_upright.mode(PullUp);
jah128 0:d63a63feb104 185 }
jah128 0:d63a63feb104 186
jah128 0:d63a63feb104 187
jah128 0:d63a63feb104 188 void handleData(char * data, char length)
jah128 0:d63a63feb104 189 {
jah128 0:d63a63feb104 190 display.set_position(1,1);
jah128 0:d63a63feb104 191 display.write_string(data,length);
jah128 0:d63a63feb104 192 }