Revision 1:5235d57bb8d3, committed 2016-04-29

Comitter:

yhbyhb4433

Date:

Fri Apr 29 19:09:58 2016 +0000

Parent:

0:9439ccb44422

Child:

2:c7c1c5e42767

Commit message:

Xbee robot with telemetry, robot code

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/4DGL-uLCD-SE.lib	Fri Apr 29 19:09:58 2016 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/4180_1/code/4DGL-uLCD-SE/#2cb1845d7681

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/DebounceIn.lib	Fri Apr 29 19:09:58 2016 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/AjK/code/DebounceIn/#31ae5cfb44a4

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Motor.lib	Fri Apr 29 19:09:58 2016 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/simon/code/Motor/#f265e441bcd9

--- a/main.cpp	Fri Nov 28 18:00:06 2014 +0000
+++ b/main.cpp	Fri Apr 29 19:09:58 2016 +0000
@@ -1,75 +1,143 @@
+// basic xbee example
+// - take chars from the terminal, push them out xbee1
+// - listen on xbee2, and print value + 1 to terminal
+
 #include "mbed.h"
-#include "rtos.h"
-DigitalOut myled(LED1);
-PwmOut myled2(LED2);
-PwmOut myled3(LED3);
-PwmOut myled4(LED4);
+#include "Motor.h"
+Motor B(p21,p22,p23);//wd, rev, can brake right motor
+Motor A(p26,p24,p25);//wm, fwd, rev, can brake  left motir
+//#include "DebounceIn.h"
+
+Serial xbee1(p9, p10);
+
+//DigitalOut rst1(p11);
+//InterruptIn forward(p16);
+//InterruptIn left(p17);
+//InterruptIn reverse(p18);
+//InterruptIn right(p24);
+//forward   16
+//left      17
+//reverse   18
+//right     19
+Serial xbee2(p9, p10);
+DigitalOut rst2(p11);
 
-inline float random_number(){
-    return (rand()/(float(RAND_MAX)));
+//AnalogOut battery(p18);
+//battery=2;
+
+
+Serial pc(USBTX, USBRX);
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+float s=0.8 ;//speed of forward and backward
+
+DigitalOut led4(LED4);
+AnalogIn battery(p20);
+AnalogIn sensor(p18);
+
+
+
+/*int a;
+void forward_pushed (void)
+{
+    a = 11;
+    xbee1.putc(a);
+    pc.putc(a);
 }
- 
-void beacon(void const *args){
-    while(1) {
-        //LED warm up effect using PWM
-        for(int i=0; i<50; i++) {
-            myled2 = i/50.0;
-            Thread::wait(1000.0*0.02);
-        }
-        //LED at full brightness level
-        myled2 = 1.0;
-        Thread::wait(1000.0*0.25);
-        //LED cool down effect using PWM
-        for(int i=49; i>0; i--) {
-            myled2 = i/50.0;
-            Thread::wait(1000.0*0.02);
-        }
-        //LED off
-        myled2 = 0.0;
-        Thread::wait(1000.0*1.5);
-    }
+void left_pushed (void)
+{
+    a = 12;
+    xbee1.putc(a);
+    pc.putc(a);
 }
-void welding(void const *args) {
-    float x = 0.0;
-    while(1) {
-        //get a new random number for PWM
-        x = random_number();
-        //add some exponential brightness scaling
-        //for more of a fast flash effect
-        myled3 = x*x*x;
-        //fast update rate for welding flashes
-        Thread::wait(1000.0*0.02);
-        //add a random pause between welds
-        if (random_number()>0.9925) {
-            myled3 = 0.0;
-            Thread::wait(1000.0*4.0*random_number());
-        }
-    }
+void reverse_pushed (void)
+{
+    a = 13;
+    xbee1.putc(a);
+    pc.putc(a);
+}
+void right_pushed (void)
+{
+    a = 14;
+    xbee1.putc(a);
+    pc.printf("%i\n",a);
 }
 
-void lighthouse(void const *args){
-    float y=0.0;
-    while(1) {
-        for(double x=0.0; x <= 3.14159; x = x + 0.0314159) {
-            y = sin(x); //nice periodic function 0..1..0
-            myled4 = y*y*y;//exponential effect - needs a sharp peak
-            Thread::wait(1000.0*.025);
+/* int main()
+{
+    forward.mode(PullUp);
+    reverse.mode(PullUp);
+    left.mode(PullUp);
+    right.mode(PullUp);
+
+    // reset the xbees (at least 200ns)
+//    rst1 = 0;
+    rst2 = 0;
+//    wait_ms(100);
+//    rst1 = 1;
+//    rst2 = 1;
+//    wait_ms(100);
+
+    wait(.01);
+    // Attach the address of the interrupt handler routine for pushbutton
+//    forward.fall(&forward_pushed);
+//    left.fall(&left_pushed);
+//    reverse.fall(&reverse_pushed);
+//    right.fall(&right_pushed);
+//    wait(0.05);
+//    //xbee1.putc(pc.getc());
+*/
+
+//led1=1;
+//}
+int main()
+{
+    rst2 = 0;
+    wait_ms(100);
+    rst2 = 1;
+    while (1) {
+        float xx= (battery);
+        float sense=sensor;
+
+        int b;
+        b = xbee2.getc();
+        if (b==11) {   //move forward
+            led1 = 1;
+            A.speed(s);
+            B.speed(s);
+        } else if (b==12) {   // move backward
+            led2 = 1;
+            A.speed(-s);
+            B.speed(-s);
+        } else if (b==13) {       // move left
+            led3 = 1;
+            A.speed(s+0.2);
+            B.speed(s-0.2);
+        } else if (b==14) {      // move right
+            led4 = 1;
+            A.speed(s-0.2);
+            B.speed(s+0.2);
+        } else if (b==15) {
+
+            pc.printf("%i\n",int(float(232)*xx));
+            xbee2.putc(int(float(232)*xx));
+        } else if (b==16) {
+            pc.printf("%i\n",int(float(232)*sense));
+            xbee2.putc(int(float(232)*sense));
+
+        } else if (b==0){
+            
+            A.speed(0);
+            B.speed(0);
+            
         }
-        myled4 = 0.0;
-        //most lighthouses have a 5 second delay - so add another 2.5
-        Thread::wait(1000.0*2.5);
+
+        wait(0.01);
+        led1=led2=led3=led4=0;
+        
     }
-}
+    
 
-int main() {
-    Thread thread2(beacon);
-    Thread thread3(welding);
-    Thread thread4(lighthouse);
-    //main runs standard LED blink demo
-    while(1) {
-        myled = 1;
-        Thread::wait(1000.0*0.2);
-        myled = 0;
-        Thread::wait(1000.0*0.2);
-    }
-}
+    //}
+}
\ No newline at end of file

--- a/mbed-rtos.lib	Fri Nov 28 18:00:06 2014 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-http://developer.mbed.org/users/mbed_official/code/mbed-rtos/#02f5cf381388