Remote Control Car

Georgia Tech ECE 4180 Embedded Systems Design Final Project

Team Members

Raj Madisetti Arjun Sonti

main.cpp@5:b1b250500440, 2020-11-27 (annotated)

Committer:: rmadisetti3
Date:: Fri Nov 27 20:45:42 2020 +0000
Revision:: 5:b1b250500440
Parent:: 4:29839de66eae

Final

Who changed what in which revision?

User	Revision	Line number	New contents of line
rmadisetti3	0:20a8dfc396cb	1	#include "mbed.h"
rmadisetti3	0:20a8dfc396cb	2	#include "Servo.h"
rmadisetti3	0:20a8dfc396cb	3	#include "motordriver.h"
rmadisetti3	4:29839de66eae	4	#include "ultrasonic.h"
rmadisetti3	0:20a8dfc396cb	5	#include <stdio.h>
rmadisetti3	1:1c1ad0c1c260	6	Serial pc(USBTX,USBRX);
rmadisetti3	4:29839de66eae	7	Serial blue(p13,p14);
rmadisetti3	0:20a8dfc396cb	8	DigitalOut myled(LED1);
rmadisetti3	0:20a8dfc396cb	9
rmadisetti3	0:20a8dfc396cb	10
rmadisetti3	3:4956cc0efdf3	11	#define AUTOPILOT 10
rmadisetti3	3:4956cc0efdf3	12	#define FORWARD 1
rmadisetti3	3:4956cc0efdf3	13	#define REVERSE -1
rmadisetti3	3:4956cc0efdf3	14	#define STOP 0
rmadisetti3	3:4956cc0efdf3	15
rmadisetti3	4:29839de66eae	16	int state = 0; //global variable stop state
rmadisetti3	4:29839de66eae	17	int status1;
rmadisetti3	4:29839de66eae	18	int status2;
rmadisetti3	5:b1b250500440	19	int autoPilotLock;
rmadisetti3	4:29839de66eae	20	int distanceCenter;
rmadisetti3	4:29839de66eae	21	int distanceLeft;
rmadisetti3	4:29839de66eae	22	int distanceRight;
rmadisetti3	0:20a8dfc396cb	23	Motor M(p21, p22, p23, 1); // pwm, fwd, rev, can brake
rmadisetti3	1:1c1ad0c1c260	24	Servo S(p24);
rmadisetti3	4:29839de66eae	25
rmadisetti3	3:4956cc0efdf3	26
rmadisetti3	3:4956cc0efdf3	27	void getNewState() {
rmadisetti3	3:4956cc0efdf3	28	//Logic for AdaFruit App
rmadisetti3	3:4956cc0efdf3	29	char bnum=0;
rmadisetti3	3:4956cc0efdf3	30	char bhit=0;
rmadisetti3	3:4956cc0efdf3	31	if (blue.readable()) {
rmadisetti3	3:4956cc0efdf3	32	if (blue.getc()=='!') {
rmadisetti3	3:4956cc0efdf3	33	if (blue.getc()=='B') { //button data packet
rmadisetti3	3:4956cc0efdf3	34	bnum = blue.getc(); //button number
rmadisetti3	3:4956cc0efdf3	35	bhit = blue.getc(); //1=hit, 0=release
rmadisetti3	3:4956cc0efdf3	36	if (blue.getc()==char(~('!' + 'B' + bnum + bhit))) { //checksum OK?
rmadisetti3	3:4956cc0efdf3	37	myled = bnum - '0'; //current button number will appear on LEDs
rmadisetti3	3:4956cc0efdf3	38	switch (bnum) {
rmadisetti3	3:4956cc0efdf3	39	case '1': //AutoPilot Mode
rmadisetti3	3:4956cc0efdf3	40	if (bhit=='1') {
rmadisetti3	3:4956cc0efdf3	41	state = 10; //autopilot state
rmadisetti3	3:4956cc0efdf3	42	}
rmadisetti3	3:4956cc0efdf3	43	break;
rmadisetti3	3:4956cc0efdf3	44	case '5': //forward
rmadisetti3	3:4956cc0efdf3	45	if (bhit=='1') {
rmadisetti3	3:4956cc0efdf3	46	state = 1; //forward state
rmadisetti3	3:4956cc0efdf3	47	} else {
rmadisetti3	3:4956cc0efdf3	48	state = 0; //stop state
rmadisetti3	3:4956cc0efdf3	49	}
rmadisetti3	3:4956cc0efdf3	50	break;
rmadisetti3	3:4956cc0efdf3	51	case '6': //reverse
rmadisetti3	3:4956cc0efdf3	52	if (bhit=='1') {
rmadisetti3	3:4956cc0efdf3	53	state = -1; //reverse state
rmadisetti3	3:4956cc0efdf3	54	} else {
rmadisetti3	3:4956cc0efdf3	55	state = 0; //stop state
rmadisetti3	3:4956cc0efdf3	56	}
rmadisetti3	3:4956cc0efdf3	57	break;
rmadisetti3	3:4956cc0efdf3	58	case '7': //left
rmadisetti3	3:4956cc0efdf3	59	if (bhit=='1') {
rmadisetti3	5:b1b250500440	60	S = S + 0.5; //turn left
rmadisetti3	3:4956cc0efdf3	61	}
rmadisetti3	3:4956cc0efdf3	62	break;
rmadisetti3	3:4956cc0efdf3	63	case '8': //right
rmadisetti3	3:4956cc0efdf3	64	if (bhit=='1') {
rmadisetti3	5:b1b250500440	65	S = S - 0.5; //turn right
rmadisetti3	3:4956cc0efdf3	66	}
rmadisetti3	3:4956cc0efdf3	67	break;
rmadisetti3	3:4956cc0efdf3	68	}
rmadisetti3	3:4956cc0efdf3	69	}
rmadisetti3	3:4956cc0efdf3	70	}
rmadisetti3	3:4956cc0efdf3	71	}
rmadisetti3	3:4956cc0efdf3	72	}
rmadisetti3	3:4956cc0efdf3	73	}
rmadisetti3	3:4956cc0efdf3	74
rmadisetti3	3:4956cc0efdf3	75	void autoPilot() {
rmadisetti3	5:b1b250500440	76	autoPilotLock = 0;
rmadisetti3	5:b1b250500440	77	if (distanceCenter >= 200 && autoPilotLock == 0) {
rmadisetti3	3:4956cc0efdf3	78	M.speed(1.0);
rmadisetti3	3:4956cc0efdf3	79	S = 0.5;
rmadisetti3	3:4956cc0efdf3	80	}
rmadisetti3	3:4956cc0efdf3	81	else if (distanceRight > distanceLeft) { //More space on right so turn right
rmadisetti3	5:b1b250500440	82	autoPilotLock = 1;
rmadisetti3	5:b1b250500440	83	M.speed(-1.0);
rmadisetti3	5:b1b250500440	84	S = 0;
rmadisetti3	5:b1b250500440	85	wait_ms(1000);
rmadisetti3	5:b1b250500440	86	autoPilotLock = 0;
rmadisetti3	3:4956cc0efdf3	87	}
rmadisetti3	3:4956cc0efdf3	88	else { //or turn left
rmadisetti3	5:b1b250500440	89	autoPilotLock = 1;
rmadisetti3	5:b1b250500440	90	M.speed(-1.0);
rmadisetti3	5:b1b250500440	91	S = 1.0;
rmadisetti3	5:b1b250500440	92	wait_ms(1000);
rmadisetti3	5:b1b250500440	93	autoPilotLock = 0;
rmadisetti3	3:4956cc0efdf3	94	}
rmadisetti3	3:4956cc0efdf3	95	}
rmadisetti3	0:20a8dfc396cb	96
rmadisetti3	4:29839de66eae	97	void dist1(int distance)
rmadisetti3	4:29839de66eae	98	{
rmadisetti3	4:29839de66eae	99	distanceCenter = distance;
rmadisetti3	4:29839de66eae	100	}
rmadisetti3	4:29839de66eae	101
rmadisetti3	4:29839de66eae	102	void dist2(int distance)
rmadisetti3	4:29839de66eae	103	{
rmadisetti3	4:29839de66eae	104	distanceLeft = distance;
rmadisetti3	4:29839de66eae	105	}
rmadisetti3	4:29839de66eae	106
rmadisetti3	4:29839de66eae	107	void dist3(int distance)
rmadisetti3	4:29839de66eae	108	{
rmadisetti3	4:29839de66eae	109	distanceRight = distance;
rmadisetti3	4:29839de66eae	110	}
rmadisetti3	4:29839de66eae	111
rmadisetti3	4:29839de66eae	112	ultrasonic muCenter(p6, p7, .1, 1, &dist1); //sonar 1 initialization
rmadisetti3	4:29839de66eae	113	ultrasonic muLeft(p17, p18, .1, 1, &dist2); //sonar 2 initialization
rmadisetti3	4:29839de66eae	114	ultrasonic muRight(p15, p16, .1, 1, &dist3); //sonar 3 initialization
rmadisetti3	4:29839de66eae	115
rmadisetti3	4:29839de66eae	116
rmadisetti3	0:20a8dfc396cb	117
rmadisetti3	0:20a8dfc396cb	118	int main() {
rmadisetti3	4:29839de66eae	119	//SONAR Initializations
rmadisetti3	4:29839de66eae	120	muCenter.startUpdates();//SONAR 1 starts measuring the distance
rmadisetti3	4:29839de66eae	121	muLeft.startUpdates();//SONAR 2 starts measuring the distance
rmadisetti3	4:29839de66eae	122	muRight.startUpdates();//SONAR 3 starts measuring the distance
rmadisetti3	3:4956cc0efdf3	123	while(1) { //main loop for motor control
rmadisetti3	4:29839de66eae	124	pc.printf("Center D=%ld mm\r\n", distanceCenter);
rmadisetti3	4:29839de66eae	125	pc.printf("Right D=%ld mm\r\n", distanceRight);
rmadisetti3	4:29839de66eae	126	pc.printf("Left D=%ld mm\r\n", distanceLeft);
rmadisetti3	4:29839de66eae	127	muCenter.checkDistance(); //SONAR measuring starts
rmadisetti3	4:29839de66eae	128	muLeft.checkDistance();
rmadisetti3	4:29839de66eae	129	muRight.checkDistance();
rmadisetti3	3:4956cc0efdf3	130	getNewState();
rmadisetti3	4:29839de66eae	131	if (distanceCenter >= 250 && state == FORWARD) {
rmadisetti3	3:4956cc0efdf3	132	M.speed(1.0);
rmadisetti3	3:4956cc0efdf3	133	}
rmadisetti3	3:4956cc0efdf3	134	else if (state == REVERSE) {
rmadisetti3	3:4956cc0efdf3	135	M.speed(-1.0);
rmadisetti3	3:4956cc0efdf3	136	}
rmadisetti3	3:4956cc0efdf3	137	else if (state == AUTOPILOT) {
rmadisetti3	3:4956cc0efdf3	138	autoPilot();
rmadisetti3	3:4956cc0efdf3	139	}
rmadisetti3	3:4956cc0efdf3	140	else {
rmadisetti3	3:4956cc0efdf3	141	M.speed(0);
rmadisetti3	2:5c9526ccb055	142	}
rmadisetti3	2:5c9526ccb055	143	}
rmadisetti3	3:4956cc0efdf3	144
rmadisetti3	0:20a8dfc396cb	145	}