Revision 1:6c399fc35deb, committed 2013-11-18

Comitter:

dhamilton31

Date:

Mon Nov 18 21:09:13 2013 +0000

Parent:

0:3ed56271dd2d

Child:

2:0b362c662997

Commit message:

how many things must I commit?!?

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Rectangle.lib	Mon Nov 18 21:09:13 2013 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/projetremote/code/Rectangle/#d9c0709ba2ce

--- a/Servo.lib	Mon Nov 11 19:22:13 2013 +0000
+++ b/Servo.lib	Mon Nov 18 21:09:13 2013 +0000
@@ -1,1 +1,1 @@
-https://mbed.org/users/simon/code/Servo/#d67ccd284081
+https://mbed.org/users/simon/code/Servo/#dec99beeafee

--- a/iRobot.cpp	Mon Nov 11 19:22:13 2013 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,66 +0,0 @@
-#include "mbed.h"
-#include "iRobot.h"
- 
-// Definitions of iRobot Create OpenInterface Command Numbers
-// See the Create OpenInterface manual for a complete list
- 
- iRobot::iRobot(PinName tx, PinName rx) : device(tx, rx){
-    speed_left = 200;
-    speed_right = 200;
- }
- 
-// Start  - send start and safe mode, start streaming sensor data
-void iRobot::start() {
-   // device.printf("%c%c", Start, SafeMode);
-    device.putc(Start);
-    device.putc(SafeMode);
-    wait(.5);
-  //  device.printf("%c%c%c", SensorStream, char(1), BumpsandDrops);
-    device.putc(SensorStream);
-    device.putc(1);
-    device.putc(BumpsandDrops);
-    wait(.5);
-}
-// Stop  - turn off drive motors
-void iRobot::stop() {
-    device.printf("%c%c%c%c%c", DriveDirect, char(0),  char(0),  char(0),  char(0));
-}
-// Forward  - turn on drive motors
-void iRobot::forward() {
-    device.printf("%c%c%c%c%c", DriveDirect, char((speed_right>>8)&0xFF),  char(speed_right&0xFF),  
-    char((speed_left>>8)&0xFF),  char(speed_left&0xFF));
- 
-}
-// Reverse - reverse drive motors
-void iRobot::reverse() {
-    device.printf("%c%c%c%c%c", DriveDirect, char(((-speed_right)>>8)&0xFF),  char((-speed_right)&0xFF),  
-    char(((-speed_left)>>8)&0xFF),  char((-speed_left)&0xFF));
- 
-}
-// Left - drive motors set to rotate to left
-void iRobot::left() {
-    device.printf("%c%c%c%c%c", DriveDirect, char((speed_right>>8)&0xFF),  char(speed_right&0xFF),  
-    char(((-speed_left)>>8)&0xFF),  char((-speed_left)&0xFF));
-}
-// Right - drive motors set to rotate to right
-void iRobot::right() {
-    device.printf("%c%c%c%c%c", DriveDirect, char(((-speed_right)>>8)&0xFF),  char((-speed_right)&0xFF),  
-    char((speed_left>>8)&0xFF),  char(speed_left&0xFF));
- 
-}
-// Charger - search and return to charger using IR beacons (if found)
-void iRobot::charger() {
-    device.printf("%c%c", Demo, char(1));
-}
-// Play Song  - define and play a song
-void iRobot::playsong() { // Send out notes & duration to define song and then play song
- 
-    device.printf("%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c", 
-                  Song, char(0), char(16), char(91), char(24), char(89), char(12), char(87), char(36), char(87),
-                  char(24), char(89), char(12), char(91), char(24), char(91), char(12), char(91), char(12), char(89),
-                  char(12),char(87), char(12), char(89), char(12), char(91), char(12), char(89), char(12), char(87),
-                  char(24), char(86), char(12), char(87), char(48));
- 
-    wait(.2);
-    device.printf("%c%c", PlaySong, char(0));
-}
\ No newline at end of file

--- a/iRobot.h	Mon Nov 11 19:22:13 2013 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,46 +0,0 @@
-#ifndef __IROBOT__
-#define __IROBOT__
-
-#include "mbed.h"
-
-class iRobot
-{
-
-public:
-
-    iRobot(PinName tx, PinName rx);
-    void start();
-    void forward();
-    void reverse();
-    void left();
-    void right();
-    void stop();
-    void playsong();
-    void charger();
-
-private:
-
-    //                 Create Command              // Arguments
-    static const char         Start = 128;
-    static const char         SafeMode = 131;
-    static const char         FullMode = 132;
-    static const char         Drive = 137;                // 4:   [Vel. Hi] [Vel Low] [Rad. Hi] [Rad. Low]
-    static const char         DriveDirect = 145;          // 4:   [Right Hi] [Right Low] [Left Hi] [Left Low]
-    static  const char         Demo = 136;                 // 2:    Run Demo x
-    static  const char         Sensors = 142;              // 1:    Sensor Packet ID
-    static  const char         CoverandDock = 143;         // 1:    Return to Charger
-    static  const char         SensorStream = 148;         // x+1: [# of packets requested] IDs of requested packets to stream
-    static  const char         QueryList = 149;            // x+1: [# of packets requested] IDs of requested packets to stream
-    static  const char         StreamPause = 150;          // 1:    0 = stop stream, 1 = start stream
-    static  const char         PlaySong = 141;
-    static const char         Song = 140;
-    static  const char         BumpsandDrops = 7;
-    static const char         Distance = 19;
-    static const char         Angle = 20;
-
-    int speed_left;
-    int speed_right;
-    Serial device;
-};
-
-#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/iRobot/iRobot.cpp	Mon Nov 18 21:09:13 2013 +0000
@@ -0,0 +1,143 @@
+#include "mbed.h"
+#include "iRobot.h"
+
+// Definitions of iRobot Create OpenInterface Command Numbers
+// See the Create OpenInterface manual for a complete list
+
+iRobot::iRobot(PinName tx, PinName rx) : device(tx, rx)
+{
+    speed_left = 100;
+    speed_right = 100;
+    // set baud rate for Create factory default
+    device.baud(57600);
+}
+
+void iRobot::changeSpeed(int speed)
+{
+    speed_left = speed;
+    speed_right = speed;
+}
+
+char iRobot::sensorCode()
+{
+    char error = Sensor_Data_Byte_Error;
+    Sensor_Data_Byte_Error = 0;
+    return error;
+}
+
+// Start  - send start and safe mode, start streaming sensor data
+void iRobot::start()
+{
+    // device.printf("%c%c", Start, SafeMode);
+    device.putc(Start);
+    device.putc(SafeMode);
+    wait(.5);
+    //  device.printf("%c%c%c", SensorStream, char(1), BumpsandDrops);
+    device.putc(SensorStream);
+    device.putc(1);
+    device.putc(BumpsandDrops);
+    wait(.2);
+    // Setup a serial interrupt function to receive data
+    device.attach(this, &iRobot::receive_sensor);
+}
+// Stop  - turn off drive motors
+void iRobot::stop()
+{
+    device.printf("%c%c%c%c%c", DriveDirect, char(0),  char(0),  char(0),  char(0));
+}
+// Forward  - turn on drive motors
+void iRobot::forward()
+{
+    device.printf("%c%c%c%c%c", DriveDirect, char((speed_right>>8)&0xFF),  char(speed_right&0xFF),
+                  char((speed_left>>8)&0xFF),  char(speed_left&0xFF));
+
+}
+// Reverse - reverse drive motors
+void iRobot::reverse()
+{
+    device.printf("%c%c%c%c%c", DriveDirect, char(((-speed_right)>>8)&0xFF),  char((-speed_right)&0xFF),
+                  char(((-speed_left)>>8)&0xFF),  char((-speed_left)&0xFF));
+
+}
+// Left - drive motors set to rotate to left
+void iRobot::left()
+{
+    device.printf("%c%c%c%c%c", DriveDirect, char((speed_right>>8)&0xFF),  char(speed_right&0xFF),
+                  char(((-speed_left)>>8)&0xFF),  char((-speed_left)&0xFF));
+}
+// Right - drive motors set to rotate to right
+void iRobot::right()
+{
+    device.printf("%c%c%c%c%c", DriveDirect, char(((-speed_right)>>8)&0xFF),  char((-speed_right)&0xFF),
+                  char((speed_left>>8)&0xFF),  char(speed_left&0xFF));
+
+}
+// Charger - search and return to charger using IR beacons (if found)
+void iRobot::charger()
+{
+    device.printf("%c%c", Demo, char(1));
+}
+
+// Play Song  - define and play a song
+void iRobot::playsong()   // Send out notes & duration to define song and then play song
+{
+
+    device.printf("%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c",
+                  Song, char(0), char(16), char(91), char(24), char(89), char(12), char(87), char(36), char(87),
+                  char(24), char(89), char(12), char(91), char(24), char(91), char(12), char(91), char(12), char(89),
+                  char(12),char(87), char(12), char(89), char(12), char(91), char(12), char(89), char(12), char(87),
+                  char(24), char(86), char(12), char(87), char(48));
+
+    wait(.2);
+    device.printf("%c%c", PlaySong, char(0));
+}
+
+// Interrupt Routine to read in serial sensor data packets - BumpandDrop sensor only
+void iRobot::receive_sensor()
+{
+    char start_character;
+// Loop just in case more than one character is in UART's receive FIFO buffer
+    while (device.readable()) {
+        switch (Sensor_byte_count) {
+// Wait for Sensor Data Packet Header of 19
+            case 0: {
+                start_character = device.getc();
+                if (start_character == 19) Sensor_byte_count++;
+                break;
+            }
+// Number of Packet Bytes
+            case 1: {
+                Sensor_Num_Bytes = device.getc();
+                Sensor_byte_count++;
+                break;
+            }
+// Sensor ID of next data value
+            case 2: {
+                Sensor_ID = device.getc();
+                Sensor_byte_count++;
+                break;
+            }
+// Sensor data value
+            case 3: {
+                Sensor_Data_Byte = device.getc();
+                if(Sensor_Data_Byte != 0){
+                    Sensor_Data_Byte_Error = Sensor_Data_Byte;
+                 }
+                Sensor_byte_count++;
+                break;
+            }
+// Read Checksum and update LEDs with sensor data
+            case 4: {
+                Sensor_Checksum = device.getc();
+                // Could add code here to check the checksum and ignore a bad data packet
+                /*led1 = Sensor_Data_Byte &0x01;
+                led2 = Sensor_Data_Byte &0x02;
+                led3 = Sensor_Data_Byte &0x04;
+                led4 = Sensor_Data_Byte &0x08;*/
+                Sensor_byte_count = 0;
+                break;
+            }
+        }
+    }
+    return;
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/iRobot/iRobot.h	Mon Nov 18 21:09:13 2013 +0000
@@ -0,0 +1,56 @@
+#ifndef __IROBOT__
+#define __IROBOT__
+
+#include "mbed.h"
+
+class iRobot
+{
+
+public:
+
+    iRobot(PinName tx, PinName rx);
+    void start();
+    void forward();
+    void reverse();
+    void left();
+    void right();
+    void stop();
+    void playsong();
+    void charger();
+    void changeSpeed(int speed);
+    void receive_sensor();
+    char sensorCode();
+
+private:
+
+    //                 Create Command              // Arguments
+    static const char         Start = 128;
+    static const char         SafeMode = 131;
+    static const char         FullMode = 132;
+    static const char         Drive = 137;                // 4:   [Vel. Hi] [Vel Low] [Rad. Hi] [Rad. Low]
+    static const char         DriveDirect = 145;          // 4:   [Right Hi] [Right Low] [Left Hi] [Left Low]
+    static  const char         Demo = 136;                 // 2:    Run Demo x
+    static  const char         Sensors = 142;              // 1:    Sensor Packet ID
+    static  const char         CoverandDock = 143;         // 1:    Return to Charger
+    static  const char         SensorStream = 148;         // x+1: [# of packets requested] IDs of requested packets to stream
+    static  const char         QueryList = 149;            // x+1: [# of packets requested] IDs of requested packets to stream
+    static  const char         StreamPause = 150;          // 1:    0 = stop stream, 1 = start stream
+    static  const char         PlaySong = 141;
+    static const char         Song = 140;
+    static  const char         BumpsandDrops = 7;
+    static const char         Distance = 19;
+    static const char         Angle = 20;
+    /* Global variables with sensor packet info */
+    char Sensor_byte_count;
+    char Sensor_Data_Byte;
+    char Sensor_Data_Byte_Error;
+    char Sensor_ID;
+    char Sensor_Num_Bytes;
+    char Sensor_Checksum;
+
+    int speed_left;
+    int speed_right;
+    Serial device;
+};
+
+#endif
\ No newline at end of file

--- a/main.cpp	Mon Nov 11 19:22:13 2013 +0000
+++ b/main.cpp	Mon Nov 18 21:09:13 2013 +0000
@@ -1,17 +1,51 @@
 #include "mbed.h"
 #include "iRobot.h"
 #include "Servo.h"
+#include "Rectangle.h"
 
-DigitalOut myled(LED1);
+// Macros/Constants
+#define MAX_VIEW_X 1024 // maximum X value input from camera
+#define MAX_VIEW_Y 1024 // maximum Y value input from camera
+#define CENTER_BOX_TOLLERANCE 15 // Size of our box
+#define TO_SERVO_DIVISOR 100.0 // Value to divide by to get the amount to move the servo by
 
-int main() {
-    iRobot followMeBot(p9, p10);
-    Servo servoHor(p22);
-    Servo servoVer(p21);
+// Hardware sensors and devices
+DigitalOut myled(LED1);
+iRobot followMeBot(p9, p10);
+Servo servoHor(p22);
+Servo servoVer(p21);
+AnalogIn irSensorFront(p20);
+AnalogIn irSensorLeft(p19);
+AnalogIn irSensorRight(p18);
+Serial pc(USBTX, USBRX); // tx, rx
+
+// Software variables
+char serial_rx_buffer[128]; // Input buffer for data from the PC
+int xpos, ypos; // x and y positions read from matlab
+Rectangle centerBox((MAX_VIEW_X/2)+CENTER_BOX_TOLLERANCE, (MAX_VIEW_Y/2)+CENTER_BOX_TOLLERANCE,
+                    (MAX_VIEW_X/2)-CENTER_BOX_TOLLERANCE,(MAX_VIEW_Y/2)-CENTER_BOX_TOLLERANCE); // Creates a box to examine if the camera is well enough centered
+
+int main()
+{
+    followMeBot.start();
+
     while(1) {
-        myled = 1;
-        wait(0.2);
-        myled = 0;
-        wait(0.2);
     }
 }
+
+void moveCamera()
+{
+    if(!centerBox.is_touch(xpos, ypos)) {
+        float temp;
+        temp = servoHor.read() + ((float)centerBox.getCenterX() - (float)xpos)/TO_SERVO_DIVISOR;
+        if(temp > 0 && temp <= 1) {
+            servoHor = temp;
+        }
+        temp = servoVer.read() + ((float)centerBox.getCenterY() - (float)ypos)/TO_SERVO_DIVISOR;
+        if(temp > 0 && temp <= 1) {
+            servoVer = temp;
+        }
+    }
+}
+
+