Adrian Winata / Mbed 2 deprecated 4180_Project_BluetoothRCBot

Use a simple iOS application to control a Magician Robot via Bluetooth LE. A virtual joystick is used on the iOS device to manipulate two differentially controlled PWM motors on the Magician Robot. Three degrees of freedom is possible (any direction on the cartesian coordinate, rotation about an axis, and speed control).

Dependencies:   BLE_nRF8001 Motordriver mbed

Fork of adrianrobotproject by David Whitney

main.cpp@0:1be634fcf3e8, 2015-04-16 (annotated)

Committer:
K_J
Date:
Thu Apr 16 21:07:54 2015 +0000
Revision:
0:1be634fcf3e8
Child:
1:81cca0074c0d
upload

Who changed what in which revision?

UserRevisionLine numberNew contents of line
K_J 0:1be634fcf3e8 1 #include "mbed.h"
K_J 0:1be634fcf3e8 2 #include "BLEPeripheral.h"
K_J 0:1be634fcf3e8 3 #include "motordriver.h"
K_J 0:1be634fcf3e8 4 #include "stdint.h"
K_J 0:1be634fcf3e8 5
K_J 0:1be634fcf3e8 6 //*******************************
K_J 0:1be634fcf3e8 7 // Must define Serial serial and SPI spi
K_J 0:1be634fcf3e8 8 // BLE_RDY and BLE_REQ
K_J 0:1be634fcf3e8 9 //*******************************
K_J 0:1be634fcf3e8 10
K_J 0:1be634fcf3e8 11 Serial serial(USBTX, USBRX);
K_J 0:1be634fcf3e8 12 // The SPI construct, REQN and RDYN IO construct should be modified manually
K_J 0:1be634fcf3e8 13 // It depend on the board you are using and the REQN&RDYN configuration on BLE Shield
K_J 0:1be634fcf3e8 14 SPI spi(p5, p6, p7);
K_J 0:1be634fcf3e8 15 DigitalInOut BLE_RDY(p8);
K_J 0:1be634fcf3e8 16 DigitalInOut BLE_REQ(p9);
K_J 0:1be634fcf3e8 17 DigitalInOut BLE_RST(p10);
K_J 0:1be634fcf3e8 18
K_J 0:1be634fcf3e8 19 //Motor Pins
K_J 0:1be634fcf3e8 20 Motor left(p21, p22, p23, 1); //pwm fwd ref has brake feature
K_J 0:1be634fcf3e8 21 Motor right(p26,p25,p24, 1);
K_J 0:1be634fcf3e8 22
K_J 0:1be634fcf3e8 23 //maybe ir sensors
K_J 0:1be634fcf3e8 24
K_J 0:1be634fcf3e8 25 /*----- BLE Utility -------------------------------------------------------------------------*/
K_J 0:1be634fcf3e8 26 // create peripheral instance, see pinouts above
K_J 0:1be634fcf3e8 27 BLEPeripheral blePeripheral = BLEPeripheral(&BLE_REQ, &BLE_RDY, &BLE_RST);
K_J 0:1be634fcf3e8 28
K_J 0:1be634fcf3e8 29 // create service
K_J 0:1be634fcf3e8 30 BLEService uartService = BLEService("713d0000503e4c75ba943148f18d941e");
K_J 0:1be634fcf3e8 31
K_J 0:1be634fcf3e8 32 // create characteristic
K_J 0:1be634fcf3e8 33 BLECharacteristic txCharacteristic = BLECharacteristic("713d0002503e4c75ba943148f18d941e", BLENotify, 20);
K_J 0:1be634fcf3e8 34 BLECharacteristic rxCharacteristic = BLECharacteristic("713d0003503e4c75ba943148f18d941e", BLEWriteWithoutResponse, 20);
K_J 0:1be634fcf3e8 35 /*--------------------------------------------------------------------------------------------*/
K_J 0:1be634fcf3e8 36
K_J 0:1be634fcf3e8 37
K_J 0:1be634fcf3e8 38 unsigned char buf[16] = {0};
K_J 0:1be634fcf3e8 39 unsigned char len = 0;
K_J 0:1be634fcf3e8 40
K_J 0:1be634fcf3e8 41
K_J 0:1be634fcf3e8 42 int main()
K_J 0:1be634fcf3e8 43 {
K_J 0:1be634fcf3e8 44
K_J 0:1be634fcf3e8 45 serial.baud(9600);
K_J 0:1be634fcf3e8 46 serial.printf("Serial begin!\r\n");
K_J 0:1be634fcf3e8 47
K_J 0:1be634fcf3e8 48 /*----- BLE Utility ---------------------------------------------*/
K_J 0:1be634fcf3e8 49 // set advertised local name and service UUID
K_J 0:1be634fcf3e8 50 blePeripheral.setLocalName("BLE Shield");
K_J 0:1be634fcf3e8 51
K_J 0:1be634fcf3e8 52 blePeripheral.setAdvertisedServiceUuid(uartService.uuid());
K_J 0:1be634fcf3e8 53
K_J 0:1be634fcf3e8 54 // add service and characteristic
K_J 0:1be634fcf3e8 55 blePeripheral.addAttribute(uartService);
K_J 0:1be634fcf3e8 56 blePeripheral.addAttribute(rxCharacteristic);
K_J 0:1be634fcf3e8 57 blePeripheral.addAttribute(txCharacteristic);
K_J 0:1be634fcf3e8 58
K_J 0:1be634fcf3e8 59 // begin initialization
K_J 0:1be634fcf3e8 60 blePeripheral.begin();
K_J 0:1be634fcf3e8 61 /*---------------------------------------------------------------*/
K_J 0:1be634fcf3e8 62 serial.printf("BLE UART Peripheral begin!\r\n");
K_J 0:1be634fcf3e8 63
K_J 0:1be634fcf3e8 64 while(1)
K_J 0:1be634fcf3e8 65 {
K_J 0:1be634fcf3e8 66 BLECentral central = blePeripheral.central();
K_J 0:1be634fcf3e8 67
K_J 0:1be634fcf3e8 68 if (central)
K_J 0:1be634fcf3e8 69 {
K_J 0:1be634fcf3e8 70 // central connected to peripheral
K_J 0:1be634fcf3e8 71 serial.printf("Connected to central\r\n");
K_J 0:1be634fcf3e8 72
K_J 0:1be634fcf3e8 73 int count = 0;
K_J 0:1be634fcf3e8 74 float leftval = 0;
K_J 0:1be634fcf3e8 75 float rightval = 0;
K_J 0:1be634fcf3e8 76 while (central.connected())
K_J 0:1be634fcf3e8 77 {
K_J 0:1be634fcf3e8 78 // central still connected to peripheral
K_J 0:1be634fcf3e8 79 if (rxCharacteristic.written())
K_J 0:1be634fcf3e8 80 {
K_J 0:1be634fcf3e8 81 count = 0;
K_J 0:1be634fcf3e8 82 unsigned char len = rxCharacteristic.valueLength();
K_J 0:1be634fcf3e8 83 const unsigned char *val = rxCharacteristic.value();
K_J 0:1be634fcf3e8 84
K_J 0:1be634fcf3e8 85 //1 = north, 2 = south, 3 = east, 4 = west
K_J 0:1be634fcf3e8 86 leftval = sqrt(pow((float)val[0]/255,2) + pow((float)val[2]/255,2)) - sqrt(pow((float)val[1]/255,2) + pow((float)val[3]/255,2));
K_J 0:1be634fcf3e8 87 rightval = sqrt(pow((float)val[0]/255,2) + pow((float)val[3]/255,2)) - sqrt(pow((float)val[1]/255,2) + pow((float)val[2]/255,2));
K_J 0:1be634fcf3e8 88
K_J 0:1be634fcf3e8 89 if (leftval > 1) leftval = 1;
K_J 0:1be634fcf3e8 90 if (leftval < -1) leftval = -1;
K_J 0:1be634fcf3e8 91 if (rightval > 1) rightval = 1;
K_J 0:1be634fcf3e8 92 if (rightval < -1) rightval = -1;
K_J 0:1be634fcf3e8 93
K_J 0:1be634fcf3e8 94 left.speed(leftval);
K_J 0:1be634fcf3e8 95 right.speed(rightval);
K_J 0:1be634fcf3e8 96
K_J 0:1be634fcf3e8 97 serial.printf("%f, %f\n", leftval, rightval);
K_J 0:1be634fcf3e8 98 }
K_J 0:1be634fcf3e8 99 }
K_J 0:1be634fcf3e8 100 // central disconnected
K_J 0:1be634fcf3e8 101 serial.printf("Disconnected from central\r\n");
K_J 0:1be634fcf3e8 102 }
K_J 0:1be634fcf3e8 103 }
K_J 0:1be634fcf3e8 104 }