Kunal Mahajan / Mbed 2 deprecated XbeeSend

Program for Sending an XBee packet from the controller to the MoboRobo.

Dependencies:   mbed MODSERIAL

Files at this revision

API Documentation at this revision

Revision 0:f80ae940a2f6, committed 2012-05-05

Comitter:
kunaljacy
Date:
Sat May 05 04:07:45 2012 +0000
Commit message:

Changed in this revision

MODSERIAL.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 
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MODSERIAL.lib	Sat May 05 04:07:45 2012 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/AjK/code/MODSERIAL/#af2af4c61c2f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat May 05 04:07:45 2012 +0000
@@ -0,0 +1,263 @@
+#include "mbed.h"
+#include "MODSERIAL.h"
+
+/* Initialize Serial Ports for XBee Communication */
+MODSERIAL xbee_send(p28, p27); // tx, rx
+Serial pc(USBTX, USBRX);
+
+/* Initialize ADC Pins for Sensors */
+AnalogIn xAxisPin(p15);
+AnalogIn yAxisPin(p16);
+AnalogIn leftJoy(p19);  // left joystick controls the left wheel speed - vertical
+AnalogIn rightJoy(p18); // right joystick controls the right wheel speed - vertical
+AnalogIn wrist(p20);    // left joystick controls the wrist - horizontal
+AnalogIn elbow(p17);   // right joystick controls the elbow - horizontal
+
+/* Initialize Digital Pins for gripper open and close */
+DigitalIn open(p6); // left joystick select button
+DigitalIn close(p5); // right joystick select button
+DigitalIn mode(p30); // control the mode : user control or semi-autonomous
+
+DigitalOut l1(LED1);
+DigitalOut l2(LED2);
+DigitalOut l3(LED3);
+DigitalOut l4(LED4);
+
+short modeVal = 0;
+
+typedef struct {
+    short xAxis;
+    short yAxis;
+    short grip;
+    short left_velocity;
+    short right_velocity;
+    short wrist;
+    short elbow;
+    short mode;
+} xbee_packet;
+
+xbee_packet packet;
+
+short get_xAxis();
+short get_yAxis();
+short get_grip();
+short get_left_velocity();
+short get_right_velocity();
+short get_wrist();
+short get_elbow();
+short get_mode();
+
+void prepare_xbee_packet() {
+    packet.xAxis = get_xAxis();
+    packet.yAxis = get_yAxis();
+    packet.grip = get_grip();
+    packet.left_velocity = get_left_velocity();
+    packet.right_velocity = get_right_velocity();
+    packet.wrist = get_wrist();
+    packet.elbow = get_elbow();
+    packet.mode = get_mode();
+}
+
+void send_xbee_packet(xbee_packet packet) {
+    char cs;
+    
+    xbee_send.putc(0xF1);
+    pc.printf("%X\r\n", 0xF1);
+    xbee_send.putc(0xE2);
+    pc.printf("%X\r\n", 0xE2);
+    xbee_send.putc(0x0A);
+    pc.printf("%X\r\n", 0x0A);
+    
+    cs = 0x0A;
+    
+    // send xAxis
+    xbee_send.putc((char) (packet.xAxis));
+    cs ^= ((char) (packet.xAxis));
+    xbee_send.putc((char) (packet.xAxis >> 8));
+    cs ^= ((char) (packet.xAxis >> 8));
+    pc.printf("Byte\r\n");
+    
+    //send yAxis
+    xbee_send.putc((char) (packet.yAxis));
+    cs ^= ((char) (packet.yAxis));
+    xbee_send.putc((char) (packet.yAxis >> 8));
+    cs ^= ((char) (packet.yAxis >> 8));
+    pc.printf("Byte\r\n");
+    
+    // send grip 
+    xbee_send.putc((char) (packet.grip));
+    cs ^= ((char) (packet.grip));
+    xbee_send.putc((char) (packet.grip >> 8));
+    cs ^= ((char) (packet.grip >> 8));
+    pc.printf("Byte\r\n");
+    
+    // send left_velocity
+    xbee_send.putc((char) (packet.left_velocity));
+    cs ^= ((char) (packet.left_velocity));
+    xbee_send.putc((char) (packet.left_velocity >> 8));
+    cs ^= ((char) (packet.left_velocity >> 8));
+    pc.printf("Byte\r\n");
+    
+    // send right_velocity
+    xbee_send.putc((char) (packet.right_velocity));
+    cs ^= ((char) (packet.right_velocity));
+    xbee_send.putc((char) (packet.right_velocity >> 8));
+    cs ^= ((char) (packet.right_velocity >> 8));
+    pc.printf("Byte\r\n");
+    
+    // send wrist
+    xbee_send.putc((char) (packet.wrist));
+    cs ^= ((char) (packet.wrist));
+    xbee_send.putc((char) (packet.wrist >> 8));
+    cs ^= ((char) (packet.wrist >> 8));
+    pc.printf("Byte\r\n");
+
+    // send elbow
+    xbee_send.putc((char) (packet.elbow));
+    cs ^= ((char) (packet.elbow));
+    xbee_send.putc((char) (packet.elbow >> 8));
+    cs ^= ((char) (packet.elbow >> 8));
+    pc.printf("Byte\r\n");
+    
+    // send mode
+    xbee_send.putc((char) (packet.mode));
+    cs ^= ((char) (packet.mode));
+    xbee_send.putc((char) (packet.mode >> 8));
+    cs ^= ((char) (packet.mode >> 8));
+    pc.printf("Byte\r\n");
+            
+    xbee_send.putc(cs);
+    pc.printf("%X\r\n", cs);
+}
+
+///////////////////// GETTER METHODS /////////////////////
+
+/* Returns the value of xAxis */
+short get_xAxis() {
+    // xAxis varies between 0.42 and 0.52
+    float x = xAxisPin.read();
+    int xVal = x * 500 - 250;
+    if (xVal < -50){
+        return -50;
+    } else if (xVal > 50) {
+        return 50;
+    } else if (xVal < 10 && xVal > -10) {
+        return 0;
+    } else {
+        return xVal;
+    }
+}
+
+/* Returns the value of yAxis */
+short get_yAxis() {
+    // yAxis varies between 0.42 and 0.52
+    float y = yAxisPin.read();
+    int yVal = y * 500 - 250;
+    if (yVal < -50){
+        return -50;
+    } else if (yVal > 50) {
+        return 50;
+    } else if (yVal < 10 && yVal > -10) {
+        return 0;
+    } else {
+        return yVal;
+    }
+}
+
+short get_grip(){
+    if (open && !close){
+        return 1;
+    } else if (close && !open){
+        return -1;
+    } else {
+    return 0;
+    }
+}
+
+short get_left_velocity(){
+    float left = leftJoy.read();
+    int leftVal = (left - 0.5) * 1000;
+    if (leftVal < -500){
+        return -500;
+    } else if (leftVal > 500) {
+        return 500;
+    } else if (leftVal < 30 && leftVal > -30) {
+        return 0;
+    } else {
+        return leftVal;
+    }
+}
+
+short get_right_velocity(){
+     float right = rightJoy.read();
+     int rightVal = (right - 0.5) * 1000;
+    if (rightVal < -500){
+        return -500;
+    } else if (rightVal > 500) {
+        return 500;
+    } else if (rightVal < 30 && rightVal > -30) {
+        return 0;
+    } else {
+        return rightVal;
+    }
+}
+
+short get_wrist(){
+    float wristty = wrist.read();
+    int wristVal = (wristty - 0.5) * 100;
+    if (wristVal < -50){
+        return -50;
+    } else if (wristVal > 50) {
+        return 50;
+    } else if (wristVal < 3 && wristVal > -3) {
+        return 0;
+    } else {
+        return wristVal;
+    }
+}
+
+short get_elbow(){
+    float elbowww = elbow.read();
+    int elbowVal = (elbowww - 0.5) * 100;
+    if (elbowVal < -50){
+        return -50;
+    } else if (elbowVal > 50) {
+        return 50;
+    } else if (elbowVal < 3 && elbowVal > -3) {
+        return 0;
+    } else {
+        return elbowVal;
+    }
+}
+
+short get_mode(){
+    if(!mode){
+        return modeVal;
+    }
+    while(mode);
+    modeVal = !modeVal;
+    return modeVal;
+}
+/////////////////////////////////////////////////////////////
+
+int main() {
+  //  xbee_send_init();
+    while (1) {
+        prepare_xbee_packet();
+        // light led 
+        if(modeVal){        // semi-autonomous robot     
+            l1 = 0;
+            l2 = 0;
+            l3 = 0;
+            l4 = 0;
+        }
+        else{               // user control robot
+            l1 = 1;
+            l2 = 1;
+            l3 = 1;
+            l4 = 1;
+        }
+        send_xbee_packet(packet);
+        wait_ms(10);
+    }
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Sat May 05 04:07:45 2012 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/737756e0b479