main.cpp

00001 #include "mbed.h"
00002 #include "EthernetInterface.h"
00003 #include "Websocket.h"
00004 
00005 #define V_SERVO_CENTER 1800
00006 #define V_SERVO_MAX 2200
00007 #define V_SERVO_MIN 800
00008 #define H_SERVO_CENTER 1600
00009 #define H_SERVO_MAX 2200
00010 #define H_SERVO_MIN 800
00011 
00012 DigitalOut myled1(LED1);
00013 DigitalOut myled2(LED2);
00014 DigitalOut myled3(LED3);
00015 
00016 DigitalOut fire(PTB23);
00017 PwmOut v_servo(PTC2);
00018 PwmOut h_servo(PTA2);
00019 
00020 int main()
00021 {
00022     EthernetInterface eth;
00023     eth.init(); //Use DHCP
00024     eth.connect();
00025     printf("IP Address is %s\n\r", eth.getIPAddress());
00026  
00027     Websocket ws(/*LINK TO YOUR WEBSOCKET SERVER GOES HERE*/);
00028     ws.connect();
00029     char recv[6]="fire";
00030     
00031     v_servo.period_us(20000);          // servo requires a 20ms period
00032     v_servo.pulsewidth_us(V_SERVO_CENTER);
00033     h_servo.period_us(20000);          // servo requires a 20ms period
00034     h_servo.pulsewidth_us(H_SERVO_CENTER);
00035     fire = 0;
00036     
00037     int v_pulse = V_SERVO_CENTER;
00038     int h_pulse = H_SERVO_CENTER;
00039 
00040     v_servo.pulsewidth_us(v_pulse); // servo position determined by a pulsewidth between 1-2ms
00041     h_servo.pulsewidth_us(h_pulse); // servo position determined by a pulsewidth between 1-2ms
00042     int move_x=0;
00043     int move_y=0;
00044     wait(0.5);
00045     
00046     while(1){
00047         if(ws.read(recv)){
00048             if(strcmp(recv,"fire")==0){
00049                 fire=1;
00050                 while(1){
00051                     wait(0.02);
00052                     ws.read(recv);
00053                     if(strcmp(recv,"stop")==0){
00054                         fire=0;
00055                         break;
00056                     }
00057                 }
00058             }
00059             else if(strcmp(recv,"left")==0){
00060                 while(1){
00061                     move_x-=10;
00062                     h_pulse = H_SERVO_CENTER + move_x;
00063     
00064                     if (h_pulse <= H_SERVO_MIN) h_pulse = H_SERVO_MIN;
00065                     if (h_pulse >= H_SERVO_MAX) h_pulse = H_SERVO_MAX;
00066     
00067                     h_servo.pulsewidth_us(h_pulse); // servo position determined by a pulsewidth between 1-2ms
00068                     ws.read(recv);
00069                     if(strcmp(recv,"stop")==0){
00070                         break;
00071                     }
00072                     wait(0.02);
00073                 }
00074             }
00075             else if(strcmp(recv,"right")==0){
00076                 while(1){
00077                     move_x+=10;
00078                     h_pulse = H_SERVO_CENTER + move_x;
00079         
00080                     if (h_pulse <= H_SERVO_MIN) h_pulse = H_SERVO_MIN;
00081                     if (h_pulse >= H_SERVO_MAX) h_pulse = H_SERVO_MAX;
00082         
00083                     h_servo.pulsewidth_us(h_pulse); // servo position determined by a pulsewidth between 1-2ms
00084                     ws.read(recv);
00085                     if(strcmp(recv,"stop")==0){
00086                         break;
00087                     }
00088                     wait(0.02);
00089                 }
00090             }
00091             else if(strcmp(recv,"up")==0){
00092                 while(1){
00093                     move_y-=10;
00094                     v_pulse = V_SERVO_CENTER + move_y;
00095         
00096                     if (v_pulse <= V_SERVO_MIN) v_pulse = V_SERVO_MIN;
00097                     if (v_pulse >= V_SERVO_MAX) v_pulse = V_SERVO_MAX;
00098         
00099                     v_servo.pulsewidth_us(v_pulse); // servo position determined by a pulsewidth between 1-2ms
00100                     ws.read(recv);
00101                     if(strcmp(recv,"stop")==0){
00102                         break;
00103                     }
00104                     wait(0.02);
00105                 }
00106             }
00107             else if(strcmp(recv,"down")==0){
00108                 while(1){
00109                     move_y+=10;
00110                     v_pulse = V_SERVO_CENTER + move_y;
00111         
00112                     if (v_pulse <= V_SERVO_MIN) v_pulse = V_SERVO_MIN;
00113                     if (v_pulse >= V_SERVO_MAX) v_pulse = V_SERVO_MAX;
00114         
00115                     v_servo.pulsewidth_us(v_pulse); // servo position determined by a pulsewidth between 1-2ms
00116                     ws.read(recv);
00117                     if(strcmp(recv,"stop")==0){
00118                         break;
00119                     }
00120                     wait(0.02);
00121                 }
00122             }
00123             else if(strcmp(recv,"lpuls")==0){
00124                 move_x-=25;
00125                 h_pulse = H_SERVO_CENTER + move_x;
00126 
00127                 if (h_pulse <= H_SERVO_MIN) h_pulse = H_SERVO_MIN;
00128                 if (h_pulse >= H_SERVO_MAX) h_pulse = H_SERVO_MAX;
00129 
00130                 h_servo.pulsewidth_us(h_pulse); // servo position determined by a pulsewidth between 1-2ms
00131             }
00132             else if(strcmp(recv,"rpuls")==0){
00133                 move_x+=25;
00134                 h_pulse = H_SERVO_CENTER + move_x;
00135     
00136                 if (h_pulse <= H_SERVO_MIN) h_pulse = H_SERVO_MIN;
00137                 if (h_pulse >= H_SERVO_MAX) h_pulse = H_SERVO_MAX;
00138     
00139                 h_servo.pulsewidth_us(h_pulse); // servo position determined by a pulsewidth between 1-2ms
00140             }
00141             else if(strcmp(recv,"upuls")==0){
00142                 move_y-=25;
00143                 v_pulse = V_SERVO_CENTER + move_y;
00144     
00145                 if (v_pulse <= V_SERVO_MIN) v_pulse = V_SERVO_MIN;
00146                 if (v_pulse >= V_SERVO_MAX) v_pulse = V_SERVO_MAX;
00147     
00148                 v_servo.pulsewidth_us(v_pulse); // servo position determined by a pulsewidth between 1-2ms
00149             }
00150             else if(strcmp(recv,"dpuls")==0){
00151                 move_y+=25;
00152                 v_pulse = V_SERVO_CENTER + move_y;
00153     
00154                 if (v_pulse <= V_SERVO_MIN) v_pulse = V_SERVO_MIN;
00155                 if (v_pulse >= V_SERVO_MAX) v_pulse = V_SERVO_MAX;
00156     
00157                 v_servo.pulsewidth_us(v_pulse); // servo position determined by a pulsewidth between 1-2ms
00158             }
00159         }
00160     }
00161 
00162 }