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:
2015-12-19
Revision:
13:d6374484b953
Parent:
11:ccb8653e285f
Child:
14:06576ab99415

File content as of revision 13:d6374484b953:

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

const char M3DPI_ID = "1234567890";

M3Dpi robot;
Serial pc(USBTX,USBRX);
Reporter* report = new BinaryReporter(&pc, M3DPI_ID);

m3dpi::Distance distance;
m3dpi::Direction direction;
m3dpi::Rotation rotation;
m3dpi::Acceleration acceleration;


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()
{
    robot.setStatus(Color::GREEN);
    ::distance = robot.getDistance();
    direction = robot.getDirection();
    rotation = robot.getRotation();
    acceleration = robot.getAcceleration();
    setLeds(::distance);
    robot.setStatus(Color::BLACK);
}

int main()
{            
    pc.baud(115200);
           
    while(true){
        Timer t; t.start();
        read_sensors_thread();
        report->distance(::distance);
        report->direction(direction);
        report->rotation(rotation);
        report->acceleration(acceleration);
        t.stop();pc.printf("Read and report time: %d us\r\n", t.read_us());
        //pc.printf("report send time: %d us\n", t.read_us());
        //report.time(robot.getTime());
        wait_ms(500);
    }
}