Taylor Meares
GuardDog using application board robot.
Dependencies: C12832 Ping Servo USBHost mbed wave_player_appbd
Revision 0:a10cfed4fa88, committed 2015-12-10
- Comitter:
- twmeares
- Date:
- Thu Dec 10 06:55:09 2015 +0000
- Commit message:
- GuardDog code for application board robot.
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/C12832.lib Thu Dec 10 06:55:09 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/askksa12543/code/C12832/#990d5eec2ef6
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Ping.lib Thu Dec 10 06:55:09 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/rosienej/code/Ping/#6996f66161d7
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Servo.lib Thu Dec 10 06:55:09 2015 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/simon/code/Servo/#36b69a7ced07
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/USBHost.lib Thu Dec 10 06:55:09 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/USBHost/#140defdf151c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Dec 10 06:55:09 2015 +0000
@@ -0,0 +1,97 @@
+#include "main.h"
+
+int main() {
+ States status = PATROL;
+ drive_stop();
+ setup_usb();
+ set_boardleds(0, 0, 0, 0);
+ while(1) {
+ switch(status) {
+ case PATROL:
+ status = patrol_state();
+ break;
+ case SEARCH:
+ status = search_state();
+ break;
+ case ALERT:
+ status = alert_state();
+ break;
+ }
+ }
+}
+
+States patrol_state() {
+ int range = 0;
+ lcd_newmessage("PATROL STATE.\n");
+ set_boardleds(1, 0, 0, 0);
+ set_rgb_f(0.0, 0.0, 1.0);
+ range = read_distance();
+ if(range < 40) {
+ drive_backward();
+ } else if(range < 80) {
+ drive_turnRight();
+ } else {
+ drive_forward();
+ }
+ wait_ms(300);
+
+ if(hear_sound() ) {
+ drive_stop();
+ return SEARCH;
+ } else {
+ return PATROL;
+ }
+}
+
+States search_state() {
+ static int counter = 0;
+ if(counter == 0) {
+ lcd_newmessage("SEARCH STATE...\n");
+ set_boardleds(0, 1, 0, 0);
+ set_rgb(0, 255, 255);
+ wait_ms(5000);
+ counter = 50;
+ }
+
+ wait_ms(100);
+ if(motion_detected() ) {
+ set_boardleds(0, 0, 0, 1);
+ counter = 0;
+ return ALERT;
+ }
+ counter--;
+ if(counter > 0) {
+ return SEARCH;
+ } else { //counter == 0
+ return PATROL;
+ }
+}
+
+States alert_state() {
+ static int counter = 0;
+ if(counter == 0) {
+ lcd_newmessage("ALERT STATE!!!\n");
+ set_rgb(0, 255, 0);
+ send_email();
+ play_usbfile("bark.wav");
+ }
+
+ set_boardleds(counter % 3, !(counter % 7), counter % 5, 1);
+
+ if(counter % 4 == 0) {
+ drive_pivotLeft();
+ } else if(counter % 4 == 2) {
+ drive_pivotRight();
+ }
+
+ wait_ms(100);
+
+ if(counter >= 100) {
+ drive_stop();
+ counter = 0;
+ return PATROL;
+ } else {
+ counter++;
+ return ALERT;
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.h Thu Dec 10 06:55:09 2015 +0000
@@ -0,0 +1,184 @@
+#include "mbed.h"
+
+#include "C12832.h"
+#include "USBHostMSD.h"
+#include "wave_player.h"
+#include "Servo.h"
+#include "Ping.h"
+
+#define BIAS 0.2030303
+#define THRES 17
+
+/* States enumated and compartmentalized into functions */
+enum States { PATROL, SEARCH, ALERT };
+States patrol_state();
+States search_state();
+States alert_state();
+
+/* Global Variables and components */
+DigitalOut board_led1(LED1);
+DigitalOut board_led2(LED2);
+DigitalOut board_led3(LED3);
+DigitalOut board_led4(LED4);
+C12832 lcd(p5, p7, p6, p8, p11);
+PwmOut r_led(p23);
+PwmOut g_led(p24);
+PwmOut b_led(p25);
+
+Serial pc(USBTX, USBRX);
+USBHostMSD* msd = 0;
+
+enum MOVE {BAD = -1, STOP, FORW, BACK, LTUR, RTUR, LPIV,RPIV };
+MOVE g_movement = BAD;
+Servo rightServo(p21);
+Servo leftServo(p22);
+
+DigitalIn pir1(p29,PullUp);
+DigitalIn pir2(p30, PullUp);
+Ping ultrasonic_in(p16);
+AnalogIn microphone_in(p17);
+
+AnalogOut DACout(p18);
+PwmOut board_speaker(p23);//(p26);
+wave_player waver(&DACout,&board_speaker);
+Serial bluetooth(p9, p10);
+
+/* Helper Functions */
+
+ /* *
+ * VISUAL FUNCTIONS *
+ * */
+void set_boardleds(int one, int two = board_led2, int thr = board_led3, int fou = board_led4) {
+ board_led1 = (one <= 0 ? 0 : 1);
+ board_led2 = (two <= 0 ? 0 : 1);
+ board_led3 = (thr <= 0 ? 0 : 1);
+ board_led4 = (fou <= 0 ? 0 : 1);
+}
+
+void lcd_newmessage(const char* const message) {
+ lcd.cls();
+ lcd.locate(0,3);
+ lcd.printf(message);
+}
+
+void set_rgb_f(float r, float g, float b) {
+ r_led = r;
+ g_led = g;
+ b_led = b;
+}
+
+void set_rgb(unsigned int r, unsigned int g, unsigned int b) {
+ r_led = (float)r / 255.f;
+ g_led = (float)g / 255.f;
+ b_led = (float)b / 255.f;
+}
+
+ /* *
+ * USB FUNCTIONS *
+ * */
+void setup_usb() {
+ msd = new USBHostMSD("usb");
+ while(!msd->connect()) {
+ Thread::wait(500);
+ }
+}
+
+void play_file(const char * const filepath) {
+ FILE *wave_file;
+ wave_file=fopen(filepath,"r");
+ if(wave_file == NULL) {
+ set_boardleds(1, 1, 1, 1);
+ return;
+ }
+ waver.play(wave_file);
+ fclose(wave_file);
+}
+
+void play_usbfile(const char * const filename) {
+ char filepath[80];
+ strcpy(filepath, "/usb/");
+ strcat(filepath, filename);
+ play_file(filepath);
+}
+
+ /* *
+ * DRIVE FUNCTIONS *
+ * */
+void drive_stop() {
+ if(g_movement != STOP) {
+ rightServo = 0.5;
+ leftServo = 0.5;
+ g_movement = STOP;
+ }
+}
+void drive_forward() {
+ if(g_movement != FORW) {
+ rightServo = 0;
+ leftServo = 1;
+ g_movement = FORW;
+ }
+}
+void drive_backward() {
+ if(g_movement != BACK) {
+ rightServo = 1;
+ leftServo = 0;
+ g_movement = BACK;
+ }
+}
+void drive_turnLeft() {
+ if(g_movement != LTUR) {
+ rightServo = 0;
+ leftServo = 0.5;
+ g_movement = LTUR;
+ }
+}
+void drive_turnRight() {
+ if(g_movement != RTUR) {
+ rightServo = 0.5;
+ leftServo = 1;
+ g_movement = RTUR;
+ }
+}
+void drive_pivotLeft() {
+ if(g_movement != LPIV) {
+ rightServo = 0;
+ leftServo = 0;
+ g_movement = LPIV;
+ }
+}
+void drive_pivotRight() {
+ if(g_movement != RPIV) {
+ rightServo = 1;
+ leftServo = 1;
+ g_movement = RPIV;
+ }
+}
+
+ /* *
+ * SENSOR FUNCTIONS *
+ * */
+int read_distance() {
+ int distance = -1;
+ ultrasonic_in.Send();
+ wait_ms(30);
+ distance = ultrasonic_in.Read_cm();
+ return distance;
+}
+int motion_detected() {
+ return !pir1 || !pir2; //pir pulls low when motion is detected
+}
+
+int hear_sound() {
+ if((microphone_in - BIAS)*500 > THRES) {//70% volume
+ return 1;
+ } else {
+ return 0;
+ }
+}
+
+ /* *
+ * WIRELESS FUNCTIONS *
+ * */
+void send_email() {
+ bluetooth.printf("Send Email\n");
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Dec 10 06:55:09 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/9296ab0bfc11 \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/wave_player_appbd.lib Thu Dec 10 06:55:09 2015 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/twmeares/code/wave_player_appbd/#cb29173d2fde