Pramod Nataraja
Code for Mbed Receiver for the Follow My Eye Project
Revision 0:b76f98d1556b, committed 2011-12-14
- Comitter:
- pramodnataraja
- Date:
- Wed Dec 14 04:39:29 2011 +0000
- Commit message:
- Version 1.0
Changed in this revision
| 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/main.cpp Wed Dec 14 04:39:29 2011 +0000
@@ -0,0 +1,200 @@
+#include "mbed.h"
+
+#define FORWARD 0
+#define REVERSE 1
+
+#define ON_OFF '0'
+#define FRONT '1'
+#define BACK '2'
+#define LEFT '3'
+#define RIGHT '4'
+#define HALF_FRONT_RIGHT '5'
+#define HALF_FRONT_LEFT '6'
+#define HALF_BACK_RIGHT '7'
+#define HALF_BACK_LEFT '8'
+
+/********************H-Bridge pins*****************/
+DigitalOut Ain1(p6);
+DigitalOut Ain2(p5);
+DigitalOut Bin1(p7);
+DigitalOut Bin2(p8);
+PwmOut motorA(p22);
+PwmOut motorB(p23);
+
+/********************X-Bee Configuration*****************/
+Serial xbee(p9,p10);
+DigitalOut rst(p11);
+
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+
+/*******************Motor directions***************/
+void forward();
+void reverse();
+void left(float);
+void right(float);
+void stop();
+
+
+void Move(char DirectionToMove, int& prevState);
+
+float time_rotate = 0.5;
+
+int main()
+{
+ rst = 0;
+ wait(0.5);
+ rst = 1;
+ wait(0.5);
+
+ int prevState = 1; // 1 for forward and 0 for back
+ int onOff = 1; // 1 for ON 0 for OFF
+ char DirectionToMove = '1';
+
+ /* init of prevhbridgestatus comes here*/
+
+ while(1)
+ {
+ while(!(xbee.readable()))
+ {
+ led1 = 1;
+ }
+ led1 = 0;
+
+ led2 = prevState;
+
+ DirectionToMove = xbee.getc();
+
+ if(DirectionToMove == '0')
+ {
+ if(onOff == 1)
+ {
+ onOff = 0;
+ stop();
+ }
+ else
+ onOff = 1;
+ }
+ else if(onOff == 1)
+ {
+ Move(DirectionToMove, prevState); /* This function moves along a direction determined by current direction and the previous direction of motion */
+ }
+ }
+
+}
+
+void Move(char DirectionToMove, int& prevState)
+{
+ switch(DirectionToMove)
+ {
+ case FRONT:
+ forward();
+ prevState = 1;
+ break;
+
+ case BACK:
+ reverse();
+ prevState = 0;
+ break;
+
+ case LEFT:
+ left(2 * time_rotate);
+ if(prevState == 0)
+ reverse();
+ else
+ forward();
+ break;
+
+ case RIGHT:
+ right(2 * time_rotate);
+ if(prevState == 0)
+ reverse();
+ else
+ forward();
+ break;
+
+ case HALF_FRONT_RIGHT:
+ right(time_rotate);
+ prevState = 1;
+ forward();
+ break;
+
+ case HALF_FRONT_LEFT:
+ left(time_rotate);
+ prevState = 1;
+ forward();
+ break;
+
+ case HALF_BACK_RIGHT:
+ right(time_rotate);
+ prevState = 0;
+ reverse();
+ break;
+
+ case HALF_BACK_LEFT:
+ left(time_rotate);
+ prevState = 0;
+ reverse();
+ break;
+
+ default:
+ break;
+ }
+}
+
+void reverse()
+{
+ stop();
+ Ain1 = 1;
+ Ain2 = 0;
+ Bin1 = 1;
+ Bin2 = 0;
+ motorA = 0.5;
+ motorB=0.5;
+
+}
+
+void forward()
+{
+ stop();
+ Ain1 = 0;
+ Ain2 = 1;
+ Bin1 = 0;
+ Bin2 = 1;
+ motorA = 0.5;
+ motorB=0.5;
+
+}
+void left(float time1)
+{
+ stop();
+ Ain1 = 1;
+ Ain2 = 0;
+ Bin1 = 0;
+ Bin2 = 1;
+ motorA = 0.5;
+ motorB=0.5;
+ wait(time1);
+}
+void right(float time1)
+{
+ stop();
+ Ain1 = 0;
+ Ain2 = 1;
+ Bin1 = 1;
+ Bin2 = 0;
+ motorA = 0.5;
+ motorB=0.5;
+ wait(time1);
+}
+
+void stop()
+{
+ Ain1 = 0;
+ Ain2 = 0;
+ Bin1 = 0;
+ Bin2 = 0;
+ motorA = 1;
+ motorB=1;
+
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Dec 14 04:39:29 2011 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/078e4b97a13e