receiver code which helps the vehicle to move forward, backward, left and right
Dependencies: mbed Servo mbed-rtos XBeeTest Motor emic2 X_NUCLEO_53L0A1
Revision 1:95f5ac2f045d, committed 2018-12-05
- Comitter:
- CharlesXu
- Date:
- Wed Dec 05 22:46:10 2018 +0000
- Parent:
- 0:25aca1983704
- Child:
- 2:112ca6a4fc73
- Commit message:
- receiver end of the device
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Motor.lib Wed Dec 05 22:46:10 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/simon/code/Motor/#f265e441bcd9
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Receiver.lib Wed Dec 05 22:46:10 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/vcazan/code/XBeeTest/#25aca1983704
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/X_NUCLEO_53L0A1.lib Wed Dec 05 22:46:10 2018 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/teams/ST/code/X_NUCLEO_53L0A1/#27d3d95c8593
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/emic2.lib Wed Dec 05 22:46:10 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/4180_1/code/emic2/#b95ede38e19d
--- a/main.cpp Tue Sep 29 21:31:14 2009 +0000 +++ b/main.cpp Wed Dec 05 22:46:10 2018 +0000 @@ -1,36 +1,121 @@ -/** - * XBee Example Test - * A test application that demonstrates the ability - * of transmitting serial data via an XBee module with - * an mbed microprocesor. - * By: Vlad Cazan - * Date: Tuesday, September 29th 2009 - */ - +// basic xbee example +// - take chars from the terminal, push them out xbee1 +// - listen on xbee2, and print value + 1 to terminal +#include "Motor.h" #include "mbed.h" +#include "emic2.h" +#include "XNucleo53L0A1.h" +#include <stdio.h> +Serial pc(USBTX, USBRX); +DigitalOut shdn(p26); -Serial xbee1(p9, p10); //Creates a variable for serial comunication through pin 9 and 10 - -DigitalOut rst1(p11); //Digital reset for the XBee, 200ns for reset +//I2C sensor pins +#define VL53L0_I2C_SDA p28 +#define VL53L0_I2C_SCL p27 -DigitalOut myled(LED3);//Create variable for Led 3 on the mbed -DigitalOut myled2(LED4);//Create variable for Led 4 on the mbed +static XNucleo53L0A1 *board=NULL; +DigitalOut shdn(p26); +emic2 myTTS(p13, p14); +Serial xbee1(p9, p10); +DigitalOut rst1(p11); -Serial pc(USBTX, USBRX);//Opens up serial communication through the USB port via the computer +Motor B(p23, p6, p5); // pwm, fwd, rev, can brake, right +Motor A(p24, p7, p8); // left motor + +char input; +int counter; int main() { - rst1 = 0; //Set reset pin to 0 - myled = 0;//Set LED3 to 0 - myled2= 0;//Set LED4 to 0 - wait_ms(1);//Wait at least one millisecond - rst1 = 1;//Set reset pin to 1 - wait_ms(1);//Wait another millisecond - - while (1) {//Neverending Loop - if (pc.readable()) {//Checking for serial comminication - myled = 0; //Turn Led 3 Off - xbee1.putc(pc.getc()); //XBee write whatever the PC is sending - myled = 1; //Turn Led 3 on for succcessfull communication + //initialize distance sensor + int status; + uint32_t distance; + DevI2C *device_i2c = new DevI2C(VL53L0_I2C_SDA, VL53L0_I2C_SCL); + /* creates the 53L0A1 expansion board singleton obj */ + board = XNucleo53L0A1::instance(device_i2c, A2, D8, D2); + shdn = 0; //must reset sensor for an mbed reset to work + wait(0.1); + shdn = 1; + wait(0.1); + /* init the 53L0A1 board with default values */ + status = board->init_board(); + while (status) { + pc.printf("Failed to init board! \r\n"); + status = board->init_board(); + } + //loop taking and printing distance + while (1) { + status = board->sensor_centre->get_distance(&distance); + if (status == VL53L0X_ERROR_NONE) { + pc.printf("D=%ld mm\r\n", distance); + } + } + + + + myTTS.volume(2); + myTTS.voice(3); + counter = 0; + // reset the xbees (at least 200ns) + rst1 = 0; + wait_ms(1); + rst1 = 1; + wait_ms(1); + input = 'I'; + A.speed(0); + B.speed(0); + while(1) { + if(xbee1.readable()) { + input = xbee1.getc(); + } + A.speed(0); + B.speed(0); + + if (input == 'A') + { + myTTS.speakf("S");//Speak command starts with "S" + myTTS.speakf("forward"); + myTTS.speakf("\r"); //marks end of speak command + myTTS.ready(); + A.speed(0.5); + B.speed(-0.5); + wait(0.5); + } else if (input == 'B') + { + myTTS.speakf("S");//Speak command starts with "S" + myTTS.speakf("back"); + myTTS.speakf("\r"); //marks end of speak command + myTTS.ready(); + A.speed(-0.5); + B.speed(0.5); + wait(0.5); + } else if (input == 'C') + { + myTTS.speakf("S");//Speak command starts with "S" + myTTS.speakf("left"); + myTTS.speakf("\r"); //marks end of speak command + myTTS.ready(); + A.speed(0.5); + B.speed(0.5); + wait(0.5); + } else if (input == 'D') + { + myTTS.speakf("S");//Speak command starts with "S" + myTTS.speakf("right"); + myTTS.speakf("\r"); //marks end of speak command + myTTS.ready(); + A.speed(-0.5); + B.speed(-0.5); + wait(0.5); + } else if (input == 'E') + { + myTTS.speakf("S");//Speak command starts with "S" + myTTS.speakf("stop, open vicinity warning system"); + myTTS.speakf("\r"); //marks end of speak command + myTTS.ready(); + A.speed(0); + B.speed(0); + wait(0.5); + } } } \ No newline at end of file
--- a/mbed.bld Tue Sep 29 21:31:14 2009 +0000 +++ b/mbed.bld Wed Dec 05 22:46:10 2018 +0000 @@ -1,1 +1,1 @@ -http://mbed.org/users/mbed_official/code/mbed/builds/a0336ede94ce +https://mbed.org/users/mbed_official/code/mbed/builds/e2bfab296f20 \ No newline at end of file