Team Walter
LP Long Distance IR Vision Robot
Dependencies: max77650_charger_sample BufferedSerial SX1276GenericLib Adafruit-MotorShield NEO-6m-GPS MAX17055_EZconfig Adafruit_GFX USBDeviceHT Adafruit-PWM-Servo-Driver
Revision 37:f0fcc0341654, committed 2018-07-31
- Comitter:
- dev_alexander
- Date:
- Tue Jul 31 23:21:01 2018 +0000
- Parent:
- 36:09e8b51fc91d
- Child:
- 38:c10d2a04a0c2
- Commit message:
- Really cleaned up the main.cpp. This revision demonstrates more clearly what is going on at compile time and how the program is compiled differently for the master and slave(robot) device
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Adafruit_GFX.lib Tue Jul 31 23:21:01 2018 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/nkhorman/code/Adafruit_GFX/#7fb1d4d3525d
--- a/main.cpp Tue Jul 31 22:39:49 2018 +0000
+++ b/main.cpp Tue Jul 31 23:21:01 2018 +0000
@@ -8,190 +8,50 @@
* For Wiring Instructions, please visit the link below:
* https://www.hackster.io/DevinAlex64/getting-started-with-the-max32620fthr-and-lora-f9d8dd\
*/
-
+
+/***************************************************************************
+ * Misc Instantiation
+ **************************************************************************/
#include "main.h"
#include "global_buffers.h"
-#include "GridEye.h"
-
//#define DEBUG_GRID_EYE
#define RASPBERRY_PI
+DigitalOut myled(LED);
+Serial pc(USBTX, USBRX);
-/* If the board that is compiled is the master device (BLE enabled MAX32630FTHR),
- * then it needs this library and needs to be configed in order for the device to
- * work with a 3.3volt output instead of a 1.8 volt output.
- *
- * This is only needed for the MAX32630FTHR. The MAX325620FTHR is exampt from this
- * additional setup in the main program.
- */
-
+/***************************************************************************
+ * MAX32630FTHR Instantiation
+ **************************************************************************/
+#if defined(TARGET_MAX32630FTHR)
+ /* If the board that is compiled is the master device (BLE enabled MAX32630FTHR),
+ * then it needs this library and needs to be configed in order for the device to
+ * work with a 3.3volt output instead of a 1.8 volt output.
+ *
+ * This is only needed for the MAX32630FTHR. The MAX325620FTHR is exampt from this
+ * additional setup in the main program.
+ */
+ #include "max32630fthr.h"
+ MAX32630FTHR pegasus(MAX32630FTHR::VIO_3V3);
+#endif
+
+/***************************************************************************
+ * MAX32620FTHR Instantiation
+ **************************************************************************/
#if defined(TARGET_MAX32620FTHR)
// Definitions for running board off of battery
#define POWER_HOLD_ON 1
#define POWER_HOLD_OFF 0
-// MAX77650
+// MAX77650
DigitalOut pw_Hold(P2_2, POWER_HOLD_ON);
-
-// Initialize GPS
- #include "GPS.h"
- GPS gps(P0_1, P0_0, 115200);
-
-// Motor Driver initialization
- #include "Adafruit_MotorShield.h"
- #include "Adafruit_PWMServoDriver.h"
-
- #define MOTOR_OFF 0
- #define MOTOR_FORWARD 150
- #define MOTOR_BACKWARD 150
- #define MOTOR_TURN 100
-
-
- // Create the motor shield object with the default I2C address
- //Adafruit_MotorShield AFMS = Adafruit_MotorShield(p9, p10, 0x60 << 1);
- Adafruit_MotorShield AFMS = Adafruit_MotorShield(P3_4, P3_5, 0x60 << 1);
- // Or, create it with a different I2C address (say for stacking)
- // Adafruit_MotorShield AFMS = Adafruit_MotorShield(0x61);
-
- // Select which 'port' M1, M2, M3 or M4. In this case, M1
- Adafruit_DCMotor *rightMotor = AFMS.getMotor(1);
- Adafruit_DCMotor *leftMotor = AFMS.getMotor(4);
- // You can also make another motor on port M2
- //Adafruit_DCMotor *myOtherMotor = AFMS.getMotor(2);
-
#endif
-#if defined(TARGET_MAX32620FTHR)
-void MotorController(uint8_t (BLE_data_server)[2])
-{
- uint8_t button_state;
- uint8_t direction;
- /*Set up constants for direction of motion */
- const char FRONT = '5';
- const char BACK = '6';
- const char LEFT = '7';
- const char RIGHT = '8';
-
- /*Set up constants for button state */
- const char PRESSED = '1';
- const char RELEASED = '0';
-
- button_state = BLE_data_server[1];
- direction = BLE_data_server[0];
-
- switch (button_state)
- {
- case PRESSED:
- //md_left_pwm = static_cast<float>(20/100.0F);
- //md_right_pwm = static_cast<float>(20/100.0F);
-
- switch (direction)
- {
- case FRONT:
- rightMotor->run(FORWARD);
- leftMotor->run(FORWARD);
- rightMotor->setSpeed(MOTOR_FORWARD);
- leftMotor->setSpeed(MOTOR_FORWARD);
- break;
- case BACK:
- rightMotor->run(BACKWARD);
- leftMotor->run(BACKWARD);
- rightMotor->setSpeed(MOTOR_BACKWARD);
- leftMotor->setSpeed(MOTOR_BACKWARD);
- break;
- case LEFT:
- rightMotor->run(FORWARD);
- leftMotor->run(BACKWARD);
- rightMotor->setSpeed(MOTOR_TURN);
- leftMotor->setSpeed(MOTOR_TURN);
- break;
- case RIGHT:
- rightMotor->run(BACKWARD);
- leftMotor->run(FORWARD);
- rightMotor->setSpeed(MOTOR_TURN);
- leftMotor->setSpeed(MOTOR_TURN);
- break;
- }
- break;
- case RELEASED:
- rightMotor->setSpeed(MOTOR_OFF);
- leftMotor->setSpeed(MOTOR_OFF);
- break;
- }
-}
-#endif
-
-#if defined(TARGET_MAX32630FTHR)
- #include "max32630fthr.h"
- MAX32630FTHR pegasus(MAX32630FTHR::VIO_3V3);
-
- #define COMPILE_BLE
-
- #if defined(COMPILE_BLE)
- /* BLE Related MAX32630FTHR Specific stuff */
- #include "ble/BLE.h"
- //#include "ble/Gap.h"
- #include "UARTService_custom.h"
- #include <events/mbed_events.h>
-
- DigitalOut led2(LED2);
- UARTService *uart;
-
- #define NEED_CONSOLE_OUTPUT 1 /* Set this if you need debug messages on the console;
- * it will have an impact on code-size and power consumption. */
-
- #if NEED_CONSOLE_OUTPUT
- #define DEBUG(STR) { if (uart) uart->write(STR, strlen(STR)); }
- #define READ(STR) { if (uart) uart->read(STR, strlen(STR)); }
-
- #else
- #define DEBUG(...) /* nothing */
- #endif /* #if NEED_CONSOLE_OUTPUT */
-
- //Triggered when the robot is disconnected from the mobile app.
- void disconnectionCallback(const Gap::DisconnectionCallbackParams_t *params)
- {
- BLE &ble = BLE::Instance();
- DEBUG("Disconnected!\n\r");
- DEBUG("Restarting the advertising process\n\r");
- ble.gap().startAdvertising();
- }
-
- /* This pointer is needed to reference data in the main program when filling
- * with data from the BLE
- */
- uint8_t * onDataWritten_curr_ble_to_slave;
-
- // Triggered when there is data written
- void onDataWritten(const GattWriteCallbackParams *params)
- {
- //LED1 will be off when button is pressed, and on when button is released.
- led2 = !led2;
- uint8_t button_state;
- uint8_t direction;
-
- /* If there is a valid data sent by the mobile app */
- if ((uart != NULL) && (params->handle == uart ->getTXCharacteristicHandle())) {
- const uint8_t *packet = params->data;
- button_state = packet[3];
- direction = packet[2];
-
- // make parameter to send over Lora
- onDataWritten_curr_ble_to_slave[0] = direction;
- onDataWritten_curr_ble_to_slave[1] = button_state;
-
- //dprintf("direction: %d\n", direction);
- //dprintf("button_state: %d\n", button_state);
- }
- }
- #endif
-#endif
-
-DigitalOut myled(LED);
-
-Serial pc(USBTX, USBRX);
-
+/***************************************************************************
+ * Grid Eye Sensor Instantiation
+ **************************************************************************/
+#include "GridEye.h"
#if defined(TARGET_MAX32630FTHR) // Master Device: MAX32630FTHR BLE-to-LoRa Gateway
/* No grid eye object needed. The function the master uses to convert the raw
@@ -201,15 +61,188 @@
* be assigned to a phyiscal sensor. In this case, the library for the Grid Eye
* sensor has a support function that is used to convert data that is aquired from
* the grid eye sensor. So it is not supposed to be a class specific function.
- */
+ */
#elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
- //Init I2C communications in default I2C bus I2C #1
// I2C i2cGridEye(SDA,SCL);
//I2C i2cGridEye(P3_4,P3_5);
I2C i2cGridEye(P1_6,P1_7);
GridEye gridEye(i2cGridEye);
#endif
+/***************************************************************************
+ * GPS Instantiation
+ **************************************************************************/
+#if defined(TARGET_MAX32630FTHR) // Master Device: MAX32630FTHR BLE-to-LoRa Gateway
+ // No GPS module on the master device
+#elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
+ #include "GPS.h"
+ GPS gps(P0_1, P0_0, 115200); // (Tx, Rx, Baud rate)
+#endif
+
+/***************************************************************************
+ * MAX77650 Instatiation
+ **************************************************************************/
+
+/***************************************************************************
+ * MAX17055 Instatiation
+ **************************************************************************/
+
+/***************************************************************************
+ * OLED Instatiation
+ **************************************************************************/
+
+/***************************************************************************
+ * BLE Instatiation and Related Functions
+ **************************************************************************/
+#if defined(TARGET_MAX32630FTHR) // Master Device: MAX32630FTHR BLE-to-LoRa Gateway
+ #include "ble/BLE.h"
+ //#include "ble/Gap.h"
+ #include "UARTService_custom.h"
+ #include <events/mbed_events.h>
+
+ DigitalOut led2(LED2);
+ UARTService *uart;
+
+ #define NEED_CONSOLE_OUTPUT 1 /* Set this if you need debug messages on the console;
+ * it will have an impact on code-size and power consumption. */
+
+ #if NEED_CONSOLE_OUTPUT
+ #define DEBUG(STR) { if (uart) uart->write(STR, strlen(STR)); }
+ #define READ(STR) { if (uart) uart->read(STR, strlen(STR)); }
+
+ #else
+ #define DEBUG(...) /* nothing */
+ #endif /* #if NEED_CONSOLE_OUTPUT */
+
+ //Triggered when the robot is disconnected from the mobile app.
+ void disconnectionCallback(const Gap::DisconnectionCallbackParams_t *params)
+ {
+ BLE &ble = BLE::Instance();
+ DEBUG("Disconnected!\n\r");
+ DEBUG("Restarting the advertising process\n\r");
+ ble.gap().startAdvertising();
+ }
+
+ /* This pointer is needed to reference data in the main program when filling
+ * with data from the BLE
+ */
+ uint8_t * onDataWritten_curr_ble_to_slave;
+
+ // Triggered when there is data written
+ void onDataWritten(const GattWriteCallbackParams *params)
+ {
+ //LED1 will be off when button is pressed, and on when button is released.
+ led2 = !led2;
+ uint8_t button_state;
+ uint8_t direction;
+
+ /* If there is a valid data sent by the mobile app */
+ if ((uart != NULL) && (params->handle == uart ->getTXCharacteristicHandle())) {
+ const uint8_t *packet = params->data;
+ button_state = packet[3];
+ direction = packet[2];
+
+ // make parameter to send over Lora
+ onDataWritten_curr_ble_to_slave[0] = direction;
+ onDataWritten_curr_ble_to_slave[1] = button_state;
+
+ //dprintf("direction: %d\n", direction);
+ //dprintf("button_state: %d\n", button_state);
+ }
+ }
+#elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
+ // No BLE chip on the MAX32620FTHR so this is not needed
+#endif
+
+/***************************************************************************
+ * Motor Controller Instatiation and Related Functions
+ **************************************************************************/
+#if defined(TARGET_MAX32630FTHR) // Master Device: MAX32630FTHR BLE-to-LoRa Gateway
+ // There is no motor on this device.
+#elif defined(TARGET_MAX32620FTHR) // Slave Device: LoRa Controlled Robot
+ /* This is a port of a library that was developed by Adafruit for the Arduino.
+ * This port was done by mbed user syundo0730. */
+ #include "Adafruit_MotorShield.h"
+ #include "Adafruit_PWMServoDriver.h"
+
+ // These are the defined speeds that are selected out of the number range (0, 255).
+ #define MOTOR_OFF 0
+ #define MOTOR_FORWARD 150
+ #define MOTOR_BACKWARD 150
+ #define MOTOR_TURN 100
+
+ // Create the motor shield object with the default I2C address
+ Adafruit_MotorShield AFMS = Adafruit_MotorShield(P3_4, P3_5, 0x60 << 1); // You have to shift it over by one due to how mbed does its I2C Addressing.
+ // Or, create it with a different I2C address (say for stacking)
+ // Adafruit_MotorShield AFMS = Adafruit_MotorShield(0x61);
+ // Select which 'port' M1, M2, M3 or M4. In this case, M1
+ Adafruit_DCMotor *rightMotor = AFMS.getMotor(1);
+ // You can also make another motor on port M4
+ Adafruit_DCMotor *leftMotor = AFMS.getMotor(4);
+
+
+ void MotorController(uint8_t (BLE_data_server)[2])
+ {
+ uint8_t button_state;
+ uint8_t direction;
+ /*Set up constants for direction of motion */
+ const char FRONT = '5';
+ const char BACK = '6';
+ const char LEFT = '7';
+ const char RIGHT = '8';
+
+ /*Set up constants for button state */
+ const char PRESSED = '1';
+ const char RELEASED = '0';
+
+
+ button_state = BLE_data_server[1];
+ direction = BLE_data_server[0];
+
+ switch (button_state)
+ {
+ case PRESSED:
+ switch (direction)
+ {
+ case FRONT:
+ rightMotor->run(FORWARD);
+ leftMotor->run(FORWARD);
+ rightMotor->setSpeed(MOTOR_FORWARD);
+ leftMotor->setSpeed(MOTOR_FORWARD);
+ break;
+ case BACK:
+ rightMotor->run(BACKWARD);
+ leftMotor->run(BACKWARD);
+ rightMotor->setSpeed(MOTOR_BACKWARD);
+ leftMotor->setSpeed(MOTOR_BACKWARD);
+ break;
+ case LEFT:
+ rightMotor->run(FORWARD);
+ leftMotor->run(BACKWARD);
+ rightMotor->setSpeed(MOTOR_TURN);
+ leftMotor->setSpeed(MOTOR_TURN);
+ break;
+ case RIGHT:
+ rightMotor->run(BACKWARD);
+ leftMotor->run(FORWARD);
+ rightMotor->setSpeed(MOTOR_TURN);
+ leftMotor->setSpeed(MOTOR_TURN);
+ break;
+ }
+ break;
+ case RELEASED:
+ rightMotor->setSpeed(MOTOR_OFF);
+ leftMotor->setSpeed(MOTOR_OFF);
+ break;
+ }
+ }
+#endif
+
+
+
+
+
+
int main()
{
/* Setup begins here: */
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/max17055.lib Tue Jul 31 23:21:01 2018 +0000 @@ -0,0 +1,1 @@ +http://os.mbed.com/teams/MAXIM-TTS-Code/code/max17055/#519a18fc3b28
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/max77650.lib Tue Jul 31 23:21:01 2018 +0000 @@ -0,0 +1,1 @@ +http://os.mbed.com/teams/MAXIM-TTS-Code/code/max77650_charger_sample/#0bb9daf44568