Jingyi Yu
the ultimate angry owl
Dependencies: mbed wave_player Motordriver mbed-rtos SDFileSystem
Revision 0:f2f38faf17d9, committed 2019-12-10
- Comitter:
- jingyitaro
- Date:
- Tue Dec 10 02:06:51 2019 +0000
- Commit message:
- The final working angry owl code
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Motordriver.lib Tue Dec 10 02:06:51 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/littlexc/code/Motordriver/#3110b9209d3c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SDFileSystem.lib Tue Dec 10 02:06:51 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/neilt6/code/SDFileSystem/#e4d2567200db
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Dec 10 02:06:51 2019 +0000
@@ -0,0 +1,240 @@
+#include "mbed.h"
+#include "motordriver.h"
+#include "rtos.h"
+#include "stdio.h"
+#include "SDFileSystem.h"
+#include "wave_player.h"
+
+volatile bool alarm = false;
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+
+RawSerial pi(USBTX, USBRX);
+
+Motor wingL(p22, p9, p10, 1); // pwm, fwd, rev
+Motor wingR(p21, p12, p11, 1);//wings move in opposite directions
+//reverse one motor's leads when wiring
+Motor wheelL(p24, p14, p13, 1);
+Motor wheelR(p25, p16, p15, 1);//wheels move in the same direction
+PwmOut led1(p23);
+PwmOut led2(p26);
+
+SDFileSystem sd(p5, p6, p7, p8, "sd");
+AnalogOut DACout(p18);
+wave_player waver(&DACout);
+Mutex spk_mutex;
+Mutex servo_mutex;
+Mutex wing_mutex;
+Mutex alrm_mutex;
+Thread t2;
+Thread t3;
+Thread t4;
+Thread t5;
+
+InterruptIn interrupt(p27);
+bool getAlarm() {
+ return alarm;
+}
+void changeAlarm()
+{
+ while(true)
+ {
+ alarm = !alarm;
+ }
+}
+
+void flapWings()
+{
+ bool flag;
+ while(true)
+ {
+ flag = getAlarm();
+ if(flag)
+ {
+ for (float s= -1.0; s < 0.0 ; s += 0.001)
+ {
+ wingL.speed(s);
+ wingR.speed(s);
+ wait(0.001);
+ }
+ for (float s= 1.0; s > 0.0 ; s -= 0.001)
+ {
+ wingL.speed(s);
+ wingR.speed(s);
+ wait(0.001);
+ }
+ }
+ Thread::wait(100);//frequency of cycles of wing movemnets
+ }
+}
+
+void playSound()
+{
+ FILE *wave_file;
+ bool flag;
+ while(true)
+ {
+ flag = getAlarm();
+ if(flag)
+ {
+ led4 = 1;
+ spk_mutex.lock();
+ wave_file=fopen("/sd/sound01.wav","r");
+ spk_mutex.unlock();
+
+ waver.play(wave_file);
+
+ spk_mutex.lock();
+ fclose(wave_file);
+ spk_mutex.unlock();
+ }
+ else if(!flag)
+ {
+ led4 = 0;
+ DACout=0;
+ }
+ Thread::wait(500);
+ }
+}
+
+void stopAllOutputDevices() {
+ wingL.stop(.5);
+ wingR.stop(.5);
+ wheelL.stop(.5);
+ wheelR.stop(.5);
+ led1=0;
+ led2=0;
+
+}
+
+int readPiChar() {
+ char temp;
+ temp = pi.getc();
+
+ led3 = !led3;
+ alrm_mutex.lock();
+ if(temp == '1') {
+ alarm = 1;
+ led4 = 1;
+
+ led1 = 1;
+ led2= 1;
+ return 1;
+
+ // pi communicates directly to led4 via usb cable...
+ // can pi also output to a pin?
+
+ }
+ if(temp == '0') {
+ alarm = 0;
+ led1 = 0;
+ led2= 0;
+ led4 = 0;
+ return 0;
+ }
+ alrm_mutex.unlock();
+}
+
+void testLED()
+{
+ while(true)
+ {
+ if(readPiChar())
+ {
+ led1 = 1;
+ led2= 1;
+ }
+ else
+ {
+ }
+ Thread::wait(500);
+ }
+}
+
+void dev_recv()
+{
+ char temp = 0;
+ while(true)
+ {
+ while(pi.readable())
+ {
+
+ //pi.putc(1);
+ temp = pi.getc();
+
+ led3 = !led3;
+ alrm_mutex.lock();
+ if(temp == '1') {
+ alarm = 1;
+ led4 = 1;
+ //flapWings();
+ //moveWheels();
+ // pi communicates directly to led4 via usb cable...
+ // can pi also output to a pin?
+
+ }
+ if(temp == '0') {
+ alarm = 0;
+ led4 = 0;
+ stopAllOutputDevices();
+ }
+ alrm_mutex.unlock();
+ }
+ Thread::wait(1000);
+ }
+}
+void moveWheels()
+{
+ while(true)
+ {
+ if(readPiChar())
+ {
+ for (float i= -1.0; i < -0.9 ; i += 0.05)
+ {
+ wheelL.speed(i);
+ wheelR.speed(i);
+ wait(1);
+ }
+ wheelL.stop(0.5);
+ wheelR.stop(0.5);
+ for (float j= 1.0; j > 0.9 ; j -= 0.05)
+ {
+ wheelL.speed(j);
+ wheelR.speed(j);
+ wait(1);
+ }
+ wheelL.stop(0.5);
+ wheelR.stop(0.5);
+ }
+ Thread::wait(200);//frequency of cycles of wing movemnets
+ }
+}
+
+void setAlarm() {
+ alarm = 1;
+ // set led and sound
+
+}
+void clearAlarm() {
+ alarm = 0;
+
+
+ }
+int main()
+{
+ pi.baud(9600);
+ //pi.attach(&piDetectInvader, Serial::RxIrq);
+ //pi.attach(&dev_recv, Serial::RxIrq);
+ //t2.start(testLED);
+ //t1.start(changeAlarm);
+ t3.start(flapWings);
+ t4.start(moveWheels);
+ //t5.start(playSound);
+ //may not even need threads......
+ interrupt.rise(&setAlarm);
+ interrupt.fall(&clearAlarm);
+ while(pi.readable())
+ { // main is the next thread
+ Thread::wait(1000); // wait 2 seconds. Acknowledge pi that mbed is ready
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-rtos.lib Tue Dec 10 02:06:51 2019 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed-rtos/#58563e6cba1e
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Dec 10 02:06:51 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/0ab6a29f35bf \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/wave_player.lib Tue Dec 10 02:06:51 2019 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/sravet/code/wave_player/#acc3e18e77ad