Nico De Witte / racing_robots

Racing Robots Session

Dependencies:   MbedJSONValue m3pi

This is the library for the Racing Robots session. It supports the M3PI robot of Polulu.

It is based on the "Arduino" principle of the init and loop function.

Just add a main.cpp file which contains:

Racing Robots main file

#include "robot_logic.h"

void init()
{
   //put your initialization logic here
}

void loop()
{
    //put your robot control logic here    
}

Features include:

  1. Controlling the LEDS
  2. Move forward and backward
  3. Turn
  4. Read the sensor values
  5. Use a PID controller

xbee.cpp@9:0385d1bfc38b, 2015-06-01 (annotated)

Committer:
sillevl
Date:
Mon Jun 01 14:53:39 2015 +0000
Revision:
9:0385d1bfc38b
Parent:
8:597ce8a7d34b 
added Xbee support for start/stop

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sillevl 8:597ce8a7d34b 1 #include "xbee.h"
sillevl 8:597ce8a7d34b 2 #include "MbedJSONValue.h"
sillevl 8:597ce8a7d34b 3
sillevl 8:597ce8a7d34b 4 Xbee::Xbee(PinName tx, PinName rx){
sillevl 8:597ce8a7d34b 5 xbee = new Serial(tx, rx);
sillevl 8:597ce8a7d34b 6 xbee->baud(115200);
sillevl 8:597ce8a7d34b 7 xbee->attach(this, &Xbee::received, Serial::RxIrq);
sillevl 8:597ce8a7d34b 8 run = false;
sillevl 8:597ce8a7d34b 9 printf("xbee constructor\r\n");
sillevl 8:597ce8a7d34b 10 rst = new DigitalOut(p26);
sillevl 8:597ce8a7d34b 11 reset();
sillevl 8:597ce8a7d34b 12 setCode(-1);
sillevl 8:597ce8a7d34b 13 }
sillevl 8:597ce8a7d34b 14
sillevl 8:597ce8a7d34b 15 void Xbee::reset(){
sillevl 8:597ce8a7d34b 16 rst->write(0);
sillevl 8:597ce8a7d34b 17 wait_ms(1);
sillevl 8:597ce8a7d34b 18 rst->write(1);
sillevl 8:597ce8a7d34b 19 wait_ms(1);
sillevl 8:597ce8a7d34b 20 }
sillevl 8:597ce8a7d34b 21
sillevl 8:597ce8a7d34b 22 void Xbee::setCode(int code){
sillevl 8:597ce8a7d34b 23 if( code >= 0 && code < 1000){
sillevl 8:597ce8a7d34b 24 error("Code must be between 0 and 999.");
sillevl 8:597ce8a7d34b 25 }
sillevl 8:597ce8a7d34b 26 this->code = code;
sillevl 8:597ce8a7d34b 27 }
sillevl 8:597ce8a7d34b 28
sillevl 8:597ce8a7d34b 29 int Xbee::hasCode(){
sillevl 8:597ce8a7d34b 30 return code != -1;
sillevl 8:597ce8a7d34b 31 }
sillevl 8:597ce8a7d34b 32
sillevl 8:597ce8a7d34b 33 int Xbee::running(){
sillevl 8:597ce8a7d34b 34 return run;
sillevl 8:597ce8a7d34b 35 }
sillevl 8:597ce8a7d34b 36
sillevl 8:597ce8a7d34b 37 int Xbee::stopped(){
sillevl 8:597ce8a7d34b 38 return !running();
sillevl 8:597ce8a7d34b 39 }
sillevl 8:597ce8a7d34b 40
sillevl 8:597ce8a7d34b 41 void Xbee::received(){
sillevl 8:597ce8a7d34b 42 char c;
sillevl 8:597ce8a7d34b 43 while(xbee->readable()){
sillevl 8:597ce8a7d34b 44 c = xbee->getc();
sillevl 8:597ce8a7d34b 45 putc(c, stdout);
sillevl 8:597ce8a7d34b 46 buffer[buffer_pos] = c;
sillevl 8:597ce8a7d34b 47 buffer_pos++;
sillevl 8:597ce8a7d34b 48 if(c == '\n'){
sillevl 8:597ce8a7d34b 49 buffer[buffer_pos] = '\0';
sillevl 8:597ce8a7d34b 50
sillevl 8:597ce8a7d34b 51 printf("buffer: %s\r\n", buffer);
sillevl 8:597ce8a7d34b 52
sillevl 8:597ce8a7d34b 53 buffer_pos = 0;
sillevl 8:597ce8a7d34b 54 MbedJSONValue json;
sillevl 8:597ce8a7d34b 55 parse(json, buffer);
sillevl 8:597ce8a7d34b 56
sillevl 8:597ce8a7d34b 57 int code = -1;
sillevl 8:597ce8a7d34b 58 if(json.hasMember("start")){
sillevl 8:597ce8a7d34b 59 code = json["start"].get<int>();
sillevl 8:597ce8a7d34b 60 } else if(json.hasMember("stop")){
sillevl 8:597ce8a7d34b 61 code = json["stop"].get<int>();
sillevl 8:597ce8a7d34b 62 } else {
sillevl 8:597ce8a7d34b 63 break;
sillevl 8:597ce8a7d34b 64 }
sillevl 8:597ce8a7d34b 65
sillevl 8:597ce8a7d34b 66 printf("code: %d\r\n", code);
sillevl 8:597ce8a7d34b 67
sillevl 8:597ce8a7d34b 68 if(json.hasMember("start") && code == this->code){
sillevl 8:597ce8a7d34b 69 run = true;
sillevl 8:597ce8a7d34b 70 printf("start\r\n");
sillevl 8:597ce8a7d34b 71 } else if(code == this->code){
sillevl 8:597ce8a7d34b 72 run = false;
sillevl 8:597ce8a7d34b 73 printf("stop\r\n");
sillevl 8:597ce8a7d34b 74 }
sillevl 8:597ce8a7d34b 75 }
sillevl 8:597ce8a7d34b 76 }
sillevl 8:597ce8a7d34b 77 }