Sille Van Landschoot / Mbed 2 deprecated m3Dpi-helloworld

m3Dpi robot, based on the Pololu 3pi and m3pi. m3Dpi has multiple distance sensors, gyroscope, compass and accelerometer sensor to be fully aware of its environment. With the addition of xbee or nrf24n01 module it has wireless communication capabilities.

Dependencies:   m3Dpi mbed-rtos mbed MbedJSONValue

main.cpp

Committer:
sillevl
Date:
2015-12-03
Revision:
7:9068fc754a0b
Parent:
6:414e1fea64f3
Child:
8:5c0833506d67
Child:
11:ccb8653e285f

File content as of revision 7:9068fc754a0b:

#include "mbed.h"
#include "rtos.h"
#include "M3Dpi.h"
#include "jsonReporter.h"

const char M3DPI_ID[] = "1234567890";

M3Dpi robot;
Serial pc(USBTX,USBRX);
JsonReporter report(&pc, M3DPI_ID);


void setLeds(m3dpi::Distance distance)
{
    int colors[8] = {distance.front, distance.front_right, distance.right, distance.back_right, distance.back, distance.back_left, distance.left, distance.front_left};
    // shift distance value to get red colors
    for(int i = 0; i < 8; i++){
        colors[i] = colors[i] << 16;
    }
    robot.setLeds(colors);
}

void read_sensors_thread(void const * args)
{
    robot.setStatus(Color::GREEN);
    m3dpi::Distance distance = robot.getDistance();
    setLeds(distance);
    
    report.distance(distance);
    report.direction(robot.getDirection());
    report.rotation(robot.getRotation());
    report.acceleration(robot.getAcceleration());
    
    report.time(robot.getTime());
    robot.setStatus(Color::OFF);
}

int main()
{            
    pc.baud(115200);
       
    // for testing...
    pc.printf("Device ID is: 0x%02x\n", robot.accelerometer.getDevId());
    pc.printf("Gyro id: 0x%02x\n", robot.gyro.getWhoAmI());
    
    RtosTimer periodicThread(read_sensors_thread, osTimerPeriodic);
    periodicThread.start(50);
    
    Thread::wait(osWaitForever);
}