Merge pull request #6 from oroca/develop

merge from develop
oroca · Feb 6, 2019 · 3be38d7 · 3be38d7
2 parents e2f4c4b + 24c2f58
commit 3be38d7
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Showing 77 changed files with 11,454 additions and 2,703 deletions.
diff --git a/.vscode/settings.json b/.vscode/settings.json
@@ -0,0 +1,10 @@
+{
+  "files.associations": {
+    "initializer_list": "cpp",
+    "list": "cpp",
+    "vector": "cpp",
+    "xhash": "cpp",
+    "xstring": "cpp",
+    "xutility": "cpp"
+  }
+}
diff --git a/examples/Floor/LineTrace/LineTrace.ino b/examples/Floor/LineTrace/LineTrace.ino
@@ -0,0 +1,92 @@
+#include <EduBot.h>
+
+
+EduBot edubot;
+
+int step_speed = 90;
+
+void setup() {
+  // put your setup code here, to run once:
+
+  edubot.begin(115200);                                     
+}
+
+void loop() {
+  // put your main code here, to run repeatedly
+  int x = 0;
+  int y = 0;
+  int sen[4];
+  static uint8_t mode = 0;
+  static int line_pos = 0;
+
+
+  edubot.lcd.clearDisplay();
+
+
+  sen[0] = edubot.floor_sensor.getRightOut();
+  sen[1] = edubot.floor_sensor.getRightIn();
+  sen[2] = edubot.floor_sensor.getLeftIn();
+  sen[3] = edubot.floor_sensor.getLeftOut();
+
+
+  if (mode == 0)
+  {
+    edubot.lcd.printf(0, 16*0, "%d", sen[0]);
+    edubot.lcd.printf(0, 16*1, "%d", sen[1]);
+    edubot.lcd.printf(0, 16*2, "%d", sen[2]);
+    edubot.lcd.printf(0, 16*3, "%d", sen[3]);
+  }
+  else if (mode == 1) 
+  {
+    for (int i=0; i<4; i++)
+    {
+      sen[i] = map(sen[i], 0, 255, 1, 60);
+      edubot.lcd.fillRect(11 + 32*i, 64-sen[i], 10, sen[i], WHITE);      
+    }    
+
+    line_pos = (sen[1]-sen[2])/1;
+
+    edubot.lcd.fillRect(64- 5 + line_pos, 4, 10, 4, WHITE);
+
+
+    int left_speed;
+    int right_speed;
+
+    left_speed = step_speed - line_pos*2;
+    right_speed = step_speed + line_pos*2;
+
+    if ( sen[1] < 2 && sen[2] < 2)
+    {
+      left_speed = 0;
+      right_speed = 0;
+    }
+
+    edubot.led.leftBright(0, sen[2], 0);
+    edubot.led.rightBright(0, sen[1], 0);
+
+    if (edubot.tof_L.distance_mm < 60 || edubot.tof_R.distance_mm < 80)
+    {
+      left_speed = 0;
+      right_speed = 0;      
+    }
+    edubot.motor.setSpeed(left_speed, right_speed);
+
+  }
+  else
+  {
+    edubot.motor.setSpeed(0, 0);
+    edubot.lcd.printf(0, 0 , "L %d mm", edubot.tof_L.distance_mm);
+    edubot.lcd.printf(0, 16, "R %d mm", edubot.tof_R.distance_mm);
+  }
+  edubot.lcd.display();
+
+  delay(1);  
+
+  if (edubot.buttonGetPressed() == true)
+  {
+    while(edubot.buttonGetPressed() == true);
+
+    mode++;
+    mode %= 3;
+  }  
+}
diff --git a/examples/Floor/readFloor/readFloor.ino b/examples/Floor/readFloor/readFloor.ino
@@ -0,0 +1,67 @@
+#include <EduBot.h>
+
+
+EduBot edubot;
+
+
+
+void setup() {
+  // put your setup code here, to run once:
+
+  edubot.begin(115200);                                     
+}
+
+void loop() {
+  // put your main code here, to run repeatedly
+  int x = 0;
+  int y = 0;
+  int sen[4];
+  static uint8_t mode = 0;
+
+
+
+  edubot.lcd.clearDisplay();
+
+
+  sen[0] = edubot.floor_sensor.getRightOut();
+  sen[1] = edubot.floor_sensor.getRightIn();
+  sen[2] = edubot.floor_sensor.getLeftIn();
+  sen[3] = edubot.floor_sensor.getLeftOut();
+
+
+  if (mode == 0)
+  {
+    edubot.lcd.printf(0, 16*0, "%d", sen[0]);
+    edubot.lcd.printf(0, 16*1, "%d", sen[1]);
+    edubot.lcd.printf(0, 16*2, "%d", sen[2]);
+    edubot.lcd.printf(0, 16*3, "%d", sen[3]);
+  }
+  else if (mode == 1)
+  {
+    for (int i=0; i<4; i++)
+    {
+      sen[i] = map(sen[i], 0, 255, 1, 60);
+      edubot.lcd.fillRect(32*i, 64-sen[i], 10, sen[i], WHITE);      
+    }    
+    edubot.lcd.fillRect(64- 5 + (sen[1]-sen[2])/1, 4, 10, 4, WHITE);
+  }
+  else
+  {
+    edubot.lcd.printf(0, 0 , "L %d mm", edubot.tof_L.distance_mm);
+    edubot.lcd.printf(0, 16, "R %d mm", edubot.tof_R.distance_mm);
+  }
+  edubot.lcd.display();
+
+  delay(50);  
+
+  if (edubot.buttonGetPressed() == true)
+  {
+    while(edubot.buttonGetPressed() == true);
+
+    mode++;
+    mode %= 2;
+  }
+  Serial.print(edubot.tof_L.distance_mm);
+  Serial.print(" ");
+  Serial.println(edubot.tof_R.distance_mm);
+}
diff --git a/examples/NeoPixel/LedFade/LedFade.ino b/examples/NeoPixel/LedFade/LedFade.ino
@@ -9,15 +9,34 @@ void setup() {
   // put your setup code here, to run once:
 
   edubot.begin(115200);                                     
+
 }
 
 void loop() {
   // put your main code here, to run repeatedly
   static uint8_t led_bright = 0;
-  static int    led_dir = 1;
+  static int led_dir = 1;
+  static int led_index = 0;   
+
+
+  if (led_index == 0)
+  {
+    edubot.led.leftBright(led_bright, 0, 0);
+    edubot.led.rightBright(led_bright, 0, 0);
+  }
+  else if(led_index == 1)
+  {
+    edubot.led.leftBright(0, led_bright, 0);
+    edubot.led.rightBright(0, led_bright, 0);    
+  }
+  else
+  {
+    edubot.led.leftBright(0, 0, led_bright);
+    edubot.led.rightBright(0, 0, led_bright);    
+  }
+
 
-  edubot.led.leftBright(led_bright, 0, 0);
-  edubot.led.rightBright(0, 0, led_bright);
+
   led_bright += led_dir;  
 
   if (led_bright == 255)
@@ -27,6 +46,8 @@ void loop() {
   if (led_bright == 0)
   {
     led_dir = 1;
+    led_index++;
+    led_index %= 3;
   }  
   delay(2);
-}
+}
diff --git a/library.properties b/library.properties
@@ -1,5 +1,5 @@
 name=OROCA-EduBot
-version=0.0.3
+version=0.0.4
 author=OROCA
 license=Apache-2.0
 maintainer=Baram([email protected])

diff --git a/src/EduBot.cpp b/src/EduBot.cpp
@@ -11,6 +11,7 @@
 
 
 
+
 void taskUpdate( void *pvParameters );
 
 void taskUpdate(void *pvParameters) 
@@ -24,7 +25,6 @@ void taskUpdate(void *pvParameters)
   }
 }
 
-
 EduBot::EduBot(void)
 {
 }
@@ -55,36 +55,44 @@ bool EduBot::begin(int baud)
   // for Unser Button
   pinMode(0, INPUT_PULLUP);
 
+  adcInfoInit();
+  adcInfoEnable(VBAT);
+
   ret = lcd.begin();
+
   lcd.println(EDUBOT_VER_STR);
 
   ret = printInitLog("Audio Init", audio.begin());
   ret = printInitLog("IR Remote Init", ir_remote.begin());
   ret = printInitLog("IMU Init", imu.begin());
-  ret = printInitLog("Motor Init", motor.begin());  
+  ret = printInitLog("Motor Init", motor.begin());
   ret = printInitLog("LED Init", led.begin());
 
+  floor_sensor.begin();
+
   pinMode(D6, OUTPUT);
   pinMode(D7, OUTPUT);
 
-  digitalWrite(D6, HIGH);
-  digitalWrite(D7, LOW);
+
+  digitalWrite(D6, LOW);
+  digitalWrite(D7, HIGH);
   delay(10);
 
-  ret = printInitLog("TOF R Init", tof_R.begin());
+  ret = printInitLog("TOF L Init", tof_L.begin());
   if (ret == true)  
   {
-    tof_R.setAddress(0x01);
+    tof_L.setAddress(0x10);
   }
+
 
   digitalWrite(D6, HIGH);
   digitalWrite(D7, HIGH);
   delay(10);
 
-  ret = printInitLog("TOF L Init", tof_L.begin());
+  ret = printInitLog("TOF R Init", tof_R.begin());
   if (ret == true)
   {
-    tof_L.setAddress(0x02);
+    //tof_L.setAddress(0x02);
   }
 
   lcd.display();
@@ -103,6 +111,9 @@ bool EduBot::begin(int baud)
     ,  1        // Priority
     ,  NULL 
     ,  1);
+
+
+  //ble.begin("OROCA EduBot");  
 
   return true;
 }
@@ -150,9 +161,11 @@ bool EduBot::update(void)
       imu.update();
     }
     tof_L.update();
-    tof_R.update();
+    tof_R.update();    
   }
 
+  adcInfoUpdate();
+
   return true;
 }
 
@@ -169,4 +182,27 @@ void EduBot::ledOff(void)
 void EduBot::ledToggle(void)
 {
   digitalWrite(13, !digitalRead(13));
+}
+
+bool EduBot::buttonGetPressed(void)
+{
+  if (digitalRead(0) == 0)
+  {
+    return true;
+  }
+  else
+  {
+    return false;
+  }  
+}
+
+uint8_t EduBot::batteryGetVoltage(void)
+{
+  uint16_t value;
+
+  value = adcInfoReadRaw(VBAT);
+
+  value = 72 * value / 4095;  // 3.6V * x / 4095
+
+  return value;
 }
diff --git a/src/EduBot.h b/src/EduBot.h
@@ -21,10 +21,14 @@
 #include "./driver/hangul/PHan_Lib.h"
 #include "./driver/vl53l0x/VL53L0X.h"
 #include "./driver/ir_remote/ir_remote.h"
+
+#include "./driver/ble/ble.h"
 #include "./driver/neopixel/neopixel.h"
+#include "./driver/adc_info/adc_info.h"
+#include "./driver/floor/floor.h"
 
 
-#define EDUBOT_VER_STR            "EduBot V190201R1"
+#define EDUBOT_VER_STR            "EduBot V190201R2"
 
 #define EDUBOT_OK                 0
 #define EDUBOT_ERR_INIT_IMU       1
@@ -45,16 +49,22 @@ class EduBot
     // for Extention Board
     IrRemote  ir_remote;
     OLed      lcd;
+    BLE       ble;
     NeoPixel  led;
     VL53L0X   tof_L;
     VL53L0X   tof_R;
+    Floor     floor_sensor;
 
     bool begin(int baud);
     bool update(void);
 
     void ledOn(void);
     void ledOff(void);
     void ledToggle(void);
+
+    bool buttonGetPressed(void);
+    uint8_t batteryGetVoltage(void);
+
   private:
     bool printInitLog(const char *str_msg, bool ret);