Srdjan Simic / Mbed 2 deprecated Seeed_BlueBot_demo

Test1

Dependencies:   mbed SeeedShieldBot BluetoothSerial

main.cpp@0:a6a12d0ce9d8, 2021-02-08 (annotated)

Committer:
srdjansimic
Date:
Mon Feb 08 17:15:05 2021 +0000
Revision:
0:a6a12d0ce9d8
Test1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
srdjansimic 0:a6a12d0ce9d8 1 #include "mbed.h"
srdjansimic 0:a6a12d0ce9d8 2 #include "BluetoothSerial.h"
srdjansimic 0:a6a12d0ce9d8 3 #include "SeeedStudioShieldBot.h"
srdjansimic 0:a6a12d0ce9d8 4
srdjansimic 0:a6a12d0ce9d8 5 // The following configuration must be done on the NUCLEO board:
srdjansimic 0:a6a12d0ce9d8 6 // - Close SB62/SB63 and open SB13/SB14 solder bridges to enable the D0/D1 pins
srdjansimic 0:a6a12d0ce9d8 7 // - Open SB21 solder bridge to disconnect the LED
srdjansimic 0:a6a12d0ce9d8 8
srdjansimic 0:a6a12d0ce9d8 9 BluetoothSerial bluetooth(D1, D0); // TX, RX
srdjansimic 0:a6a12d0ce9d8 10
srdjansimic 0:a6a12d0ce9d8 11 #ifdef TARGET_NUCLEO_L053R8
srdjansimic 0:a6a12d0ce9d8 12 #define PWM1 D6 // Connect D6 and D8
srdjansimic 0:a6a12d0ce9d8 13 #define PWM2 D12
srdjansimic 0:a6a12d0ce9d8 14 #else // NUCLEO_F072RB
srdjansimic 0:a6a12d0ce9d8 15 #define PWM1 D8
srdjansimic 0:a6a12d0ce9d8 16 #define PWM2 D12
srdjansimic 0:a6a12d0ce9d8 17 #endif
srdjansimic 0:a6a12d0ce9d8 18
srdjansimic 0:a6a12d0ce9d8 19 SeeedStudioShieldBot bot(
srdjansimic 0:a6a12d0ce9d8 20 PWM1, D9, D11, // Right motor pins (PwmOut, DigitalOut, DigitalOut) -> Motor 1
srdjansimic 0:a6a12d0ce9d8 21 PWM2, D10, D13, // Left motor pins (PwmOut, DigitalOut, DigitalOut) -> Motor 2
srdjansimic 0:a6a12d0ce9d8 22 A0, A1, A2, A3, A4 // Sensors pins (all DigitalIn)
srdjansimic 0:a6a12d0ce9d8 23 );
srdjansimic 0:a6a12d0ce9d8 24
srdjansimic 0:a6a12d0ce9d8 25 // Disable the feature by wiring A5 to GND
srdjansimic 0:a6a12d0ce9d8 26 DigitalIn ReadSensorsEnabled(A5, PullUp);
srdjansimic 0:a6a12d0ce9d8 27
srdjansimic 0:a6a12d0ce9d8 28 // Enable it for debugging on hyperterminal
srdjansimic 0:a6a12d0ce9d8 29 #define DEBUG 0
srdjansimic 0:a6a12d0ce9d8 30 #if DEBUG == 1
srdjansimic 0:a6a12d0ce9d8 31 Serial pc(PC_10, PC_11); // Connect PC10 and CN3-RX
srdjansimic 0:a6a12d0ce9d8 32 #define PC_DEBUG(args...) pc.printf(args)
srdjansimic 0:a6a12d0ce9d8 33 #else
srdjansimic 0:a6a12d0ce9d8 34 #define PC_DEBUG(args...)
srdjansimic 0:a6a12d0ce9d8 35 #endif
srdjansimic 0:a6a12d0ce9d8 36
srdjansimic 0:a6a12d0ce9d8 37 Ticker tick;
srdjansimic 0:a6a12d0ce9d8 38
srdjansimic 0:a6a12d0ce9d8 39 float speed = 1.0; // Used to select the motors speed
srdjansimic 0:a6a12d0ce9d8 40 int stop = 0; // Used to stop the motors when a sensor detects something
srdjansimic 0:a6a12d0ce9d8 41
srdjansimic 0:a6a12d0ce9d8 42 void ReadCommand(void)
srdjansimic 0:a6a12d0ce9d8 43 {
srdjansimic 0:a6a12d0ce9d8 44 int cmd = 0;
srdjansimic 0:a6a12d0ce9d8 45 PC_DEBUG(">>> Read command...\n");
srdjansimic 0:a6a12d0ce9d8 46
srdjansimic 0:a6a12d0ce9d8 47 if (bluetooth.readable())
srdjansimic 0:a6a12d0ce9d8 48 {
srdjansimic 0:a6a12d0ce9d8 49 cmd = bluetooth.getc();
srdjansimic 0:a6a12d0ce9d8 50 PC_DEBUG(">>> Bluetooth read [%c]\n", cmd);
srdjansimic 0:a6a12d0ce9d8 51
srdjansimic 0:a6a12d0ce9d8 52 // Ignore the receive command (excepted "Backward") if a sensor has detected something.
srdjansimic 0:a6a12d0ce9d8 53 if ((stop) && (cmd != '2')) return;
srdjansimic 0:a6a12d0ce9d8 54
srdjansimic 0:a6a12d0ce9d8 55 switch (cmd)
srdjansimic 0:a6a12d0ce9d8 56 {
srdjansimic 0:a6a12d0ce9d8 57 case '1': // Forward
srdjansimic 0:a6a12d0ce9d8 58 bot.forward(speed);
srdjansimic 0:a6a12d0ce9d8 59 break;
srdjansimic 0:a6a12d0ce9d8 60 case '2': // Backward
srdjansimic 0:a6a12d0ce9d8 61 bot.backward(speed);
srdjansimic 0:a6a12d0ce9d8 62 break;
srdjansimic 0:a6a12d0ce9d8 63 case '3': // Left
srdjansimic 0:a6a12d0ce9d8 64 bot.left(speed);
srdjansimic 0:a6a12d0ce9d8 65 break;
srdjansimic 0:a6a12d0ce9d8 66 case '4': // Right
srdjansimic 0:a6a12d0ce9d8 67 bot.right(speed);
srdjansimic 0:a6a12d0ce9d8 68 break;
srdjansimic 0:a6a12d0ce9d8 69 case '5': // Turn left forward
srdjansimic 0:a6a12d0ce9d8 70 bot.turn_right(speed);
srdjansimic 0:a6a12d0ce9d8 71 break;
srdjansimic 0:a6a12d0ce9d8 72 case '6': // Turn right forward
srdjansimic 0:a6a12d0ce9d8 73 bot.turn_left(speed);
srdjansimic 0:a6a12d0ce9d8 74 break;
srdjansimic 0:a6a12d0ce9d8 75 case '7': // Turn left backward
srdjansimic 0:a6a12d0ce9d8 76 bot.turn_right(-speed);
srdjansimic 0:a6a12d0ce9d8 77 break;
srdjansimic 0:a6a12d0ce9d8 78 case '8': // Turn right backward
srdjansimic 0:a6a12d0ce9d8 79 bot.turn_left(-speed);
srdjansimic 0:a6a12d0ce9d8 80 break;
srdjansimic 0:a6a12d0ce9d8 81 case '9': // Slow
srdjansimic 0:a6a12d0ce9d8 82 speed = 0.5;
srdjansimic 0:a6a12d0ce9d8 83 break;
srdjansimic 0:a6a12d0ce9d8 84 case 'A': // Fast
srdjansimic 0:a6a12d0ce9d8 85 speed = 1.0;
srdjansimic 0:a6a12d0ce9d8 86 break;
srdjansimic 0:a6a12d0ce9d8 87 default: // Stop
srdjansimic 0:a6a12d0ce9d8 88 bot.stopAll();
srdjansimic 0:a6a12d0ce9d8 89 break;
srdjansimic 0:a6a12d0ce9d8 90 }
srdjansimic 0:a6a12d0ce9d8 91 }
srdjansimic 0:a6a12d0ce9d8 92 }
srdjansimic 0:a6a12d0ce9d8 93
srdjansimic 0:a6a12d0ce9d8 94 int main()
srdjansimic 0:a6a12d0ce9d8 95 {
srdjansimic 0:a6a12d0ce9d8 96 PC_DEBUG("\n\nSeeed Bluetooth shield test started.\n");
srdjansimic 0:a6a12d0ce9d8 97
srdjansimic 0:a6a12d0ce9d8 98 // Enable motors
srdjansimic 0:a6a12d0ce9d8 99 bot.enable_right_motor();
srdjansimic 0:a6a12d0ce9d8 100 bot.enable_left_motor();
srdjansimic 0:a6a12d0ce9d8 101
srdjansimic 0:a6a12d0ce9d8 102 PC_DEBUG(">>> Bluetooth setup...");
srdjansimic 0:a6a12d0ce9d8 103 bluetooth.setup();
srdjansimic 0:a6a12d0ce9d8 104 PC_DEBUG("done\n");
srdjansimic 0:a6a12d0ce9d8 105
srdjansimic 0:a6a12d0ce9d8 106 PC_DEBUG(">>> Bluetooth in slave mode...");
srdjansimic 0:a6a12d0ce9d8 107 bluetooth.slave("bt_seeed_1"); // default PIN code: 0000
srdjansimic 0:a6a12d0ce9d8 108 PC_DEBUG("done\n");
srdjansimic 0:a6a12d0ce9d8 109
srdjansimic 0:a6a12d0ce9d8 110 wait(2);
srdjansimic 0:a6a12d0ce9d8 111
srdjansimic 0:a6a12d0ce9d8 112 PC_DEBUG(">>> Bluetooth connect...");
srdjansimic 0:a6a12d0ce9d8 113 bluetooth.connect();
srdjansimic 0:a6a12d0ce9d8 114 PC_DEBUG("done\n");
srdjansimic 0:a6a12d0ce9d8 115
srdjansimic 0:a6a12d0ce9d8 116 tick.attach(ReadCommand, 0.3); // Every 300 ms read Bluetooth command
srdjansimic 0:a6a12d0ce9d8 117
srdjansimic 0:a6a12d0ce9d8 118 // Check if motors are alive
srdjansimic 0:a6a12d0ce9d8 119 bot.left(speed);
srdjansimic 0:a6a12d0ce9d8 120 wait(0.2);
srdjansimic 0:a6a12d0ce9d8 121 bot.right(speed);
srdjansimic 0:a6a12d0ce9d8 122 wait(0.2);
srdjansimic 0:a6a12d0ce9d8 123 bot.stopAll();
srdjansimic 0:a6a12d0ce9d8 124
srdjansimic 0:a6a12d0ce9d8 125 while (1) {
srdjansimic 0:a6a12d0ce9d8 126 // Stop the motors if a sensor has detected something.
srdjansimic 0:a6a12d0ce9d8 127 if ((!bot.rightSensor || !bot.inRightSensor || !bot.centreSensor || !bot.inLeftSensor || !bot.leftSensor) && ReadSensorsEnabled)
srdjansimic 0:a6a12d0ce9d8 128 {
srdjansimic 0:a6a12d0ce9d8 129 if (!stop) bot.stopAll();
srdjansimic 0:a6a12d0ce9d8 130 stop = 1;
srdjansimic 0:a6a12d0ce9d8 131 }
srdjansimic 0:a6a12d0ce9d8 132 else
srdjansimic 0:a6a12d0ce9d8 133 {
srdjansimic 0:a6a12d0ce9d8 134 stop = 0;
srdjansimic 0:a6a12d0ce9d8 135 }
srdjansimic 0:a6a12d0ce9d8 136 }
srdjansimic 0:a6a12d0ce9d8 137 }