1. WEP 1035 Programming WEP 1035

2. AGENDA Introduction to Mbed Registration on Mbed Developer Website Hello World/Blinky Program Electrical Schematic Overview of the PCB Importing Skeleton Code Libraries Overview Begin Programming (Declarations and Initializations)

3. INTRODUCTION TO MBED NXP LPC1768 MCU ARM® Cortex™-M3 Core 96MHz, 32KB RAM, 512KB FLASH Ethernet, USB Host/Device, 2xSPI, 2xI2C, 3xUART, CAN, 6xPWM, 6xADC, GPIO Prototyping form-factor 40-pin 0.1" pitch DIP package 5V USB or 4.5-9V supply Based on 3.3V Logic Built-in USB drag 'n' drop FLASH programmer

4. INTRODUCTION TO MBED High level C/C++ SDK USB Drag ‘n’ Drop Programming Interface

5. INTRODUCTION TO MBED mbed.org Developer Website Online Compiler Entry-level Online Compiler Nothing to Install: Browser-based IDE Immediately compiling examples or writing your own

6. REGISTRATION http://developer.mbed.org After Signup: Choose LPC1768 Platform

7. BLINKY PROGRAM

8. HELLO WORLD PROGRAM

9. ELECTRICAL PCB OVERVIEW IMU MBED Motor Driver Fuse Camera DC Conv 5V DC Conv LED

10. ELECTRICAL PCB OVERVIEW

12. IMU (Sparkfun - SEN 10121) ADXL345 accelerometer (3-axis accelerometer) Measures accelerations in x, y, z (m/s^2) ITG-3200 gyro (3 axis gyroscope) Measures angular velocity in x, y, z (rads/s) 3.3V input I2C interface (Refer to Altium Schematic) Used on the robot for measuring the tilt (pitch)

13. ELECTRICAL PCB OVERVIEW Motor Driver (Dual MC33926 Motor Driver) PWM Pins: Motor 1: M1D2 Motor 2: M2D2 Directions Pins Motor 1: M1IN1, M1IN2 Motor 2: M2IN1, M2IN2

14. ELECTRICAL PCB OVERVIEW DC Motors 70:1 metal gearbox Quadrature Encoder 16 pulses per rev 64 counts per rev (16x4) Channel A & B on interrupt pins Refer to Altium Schematic

15. NEOPIXEL LEDS Tiny, bright RGB pixels Daisy Chain Design Only 8mm x 10mm Need 1 pin/wire to control all the LEDs in the chain

16. IMPORTING SKELETON CODE https://developer.mbed.org/users/weprobotics/code/WEP_Basic/

17. ETHERNET/UDP DECLARATIONS // Ethernet Declarations here static const char* robotIP = "192.168.10.177"; //Robot IP static const char* mask = "255.255.255.0"; // Mask static const char* gateway = "192.168.10.253"; //Gateway const char* broadcastIP = "192.168.10.255"; //broadcast it const int port = 8888; char packetBuffer[10]; //Buffer for receiving the UDP Packets (in our case from the Android Tablet) UDPSocket sendSocket; //Socket for sending UDPSocket receiveSocket; //One for receiving Endpoint broadcastServer; //Where you send the debug messages Endpoint client; //where you receive your messages from

18. ETHERNET/UDP SETUP AND INITIALIZATION EthernetInterface eth; // eth.init(); //If you want to use DHCP enable this eth.init(robotIP, mask, gateway); //For Static IP while (eth.connect()<0); //Get stuck here if ethernet is not setup successfully #ifdef SERIAL_DEBUG pc.printf("IP Address is %s\n", eth.getIPAddress()); pc.printf("Network Mask is %s\n", eth.getNetworkMask()); pc.printf("Gateway is %s\n", eth.getGateway()); #endif sendSocket.init(); sendSocket.set_broadcasting(); //Needed for broadcasting... receiveSocket.bind(port); receiveSocket.set_broadcasting(); receiveSocket.set_blocking(false,50); broadcastServer.set_address(broadcastIP, port); wait_ms(500); #ifdef SERIAL_DEBUG pc.printf(" UDP setup complete!\n" ); #endif

19. UDP RECEIVE PACKETS int receivedBytes = receiveSocket.receiveFrom(client, packetBuffer, sizeof(packetBuffer)); if(receivedBytes) //UDP bytes received { switch(packetBuffer[0]) { case 0x00: // Open Loop joystickAlive = true; status = 1; //In Open Loop openLoop(); break; case 0xF0: mbed_reset(); break; case 0xF1: //To do break; case 0xF2: //To do break; case 0xF3: //To do break; case 0xF4: //To do break; }

20. ETHERNET WIRING TO MBED Rx-Green Rx+White/Green Tx-Orange Tx+White/Orange

21. MOTOR DRIVER DECLARATIONS //MC33926 - Motor Controller Pinout Declaration #define M1D2 p26 //PWM Pins #define M2D2 p25 //PWM Pins #define M2IN2 p24 #define M2IN1 p23 #define M1IN2 p22 #define M1IN1 p21 //Declaration of the Motor Driver Objects Motor leftMotor(M1D2,M1IN1,M1IN2); Motor rightMotor(M2D2,M2IN1,M2IN2);

22. ANDROID JOYSTICK APP

23. 255 127 000

24. MOTOR DEADBAND Joystick Command Motor Command 255 (Max Forward Speed) 1.0 128 (Min Forward Speed) ~ 0.4 127 (Stop) 0.0 126 (Min Reverse Speed) ~ -0.4 0 (Max Reverse Speed)

25. MOTOR CONTROL FUNCTION void openLoop() { //Equations to map the android joystick from 0-255 leftMotorSpeed = ((float)packetBuffer[1]-127 + 0.5f * ((float)packetBuffer[4]-127))/-128.0f*0.6; rightMotorSpeed = ((float)packetBuffer[1]-127 - 0.5f * ((float)packetBuffer[4]-127))/128.0f*0.6; //Dead Zone Corrections if (leftMotorSpeed>0) leftMotorSpeed+=0.4; if (leftMotorSpeed<0) leftMotorSpeed-=0.4; if (rightMotorSpeed>0) rightMotorSpeed+=0.4; if (rightMotorSpeed<0) rightMotorSpeed-=0.4; //Setting the Motor Speed leftMotor.speed(leftMotorSpeed); rightMotor.speed(rightMotorSpeed); //Setting colors for the neopixel (Will be done later) #ifdef SERIAL_DEBUG pc.printf("leftMotorSpeed: %f\n",leftMotorSpeed); pc.printf("rightMotorSpeed: %f\n",rightMotorSpeed); #endif }

26. IMU DECLARATIONS //IMU Declaration #define IMU_INT1 p8 #define IMU_SDA p9 #define IMU_SCL p10 #define IMU_INT0 p11 SEN10121 imu(IMU_SDA, IMU_SCL); Ticker imuFilterTicker; //A recurring interrupt for filtering IMU data

27. IMU SETUP AND INITIALIZATIONS #ifdef SERIAL_DEBUG pc.printf(" Initializing & Calibrating IMU.\n" ); #endif //IMU Initialization and Calibration imu.initialize(); imu.calibrate(); imuFilterTicker.attach(&imu, &SEN10121::filter, imu.dt); //Filter to be called every 50ms to remove accelerometer noise

28. BATTERY VOLTAGE DECLARATION //Battery Voltage Pinout Declaration #define BATTERY_ANALOG p18 //for monitoring battery voltage //Battery Voltage Declaration AnalogIn batteryVoltage(BATTERY_ANALOG);

29. BATTERY VOLTAGE FUNCTION float getBatteryVoltage() { return batteryVoltage.read()*3.3*12.6/2.244; //In Volts }

30. TIMER AND SAFETY DECLARATIONS // Timer & Safety Declarations volatile bool joystickAlive = false; //flag for knowing that the joystick commands are being sent volatile bool safetyBrake = false; //flag for knowing when to engage the safety (disable power to the motors) Ticker safetyBrakeTicker; //Continuous timer interrupt called for safety Ticker robotStatusTicker; //Continuous timer interrupt for sending status messages to the android tablet over UDP volatile bool robotStatusRequested = false; //flag used by robotStatusTicker volatile char status = 0; //status byte for sending robot status to the android app

31. TIMER (ISR) INITIALIZATIONS safetyBrakeTicker.attach(&safetyBrakeCheck, 0.5); robotStatusTicker.attach(&robotStatusISR, 0.3);

32. SAFETY BRAKE AND ROBOT STATUS STATEMENTS //SafetyBrake Statements if(safetyBrake) { safetyBrake = false; leftMotor.speed(0.0); rightMotor.speed(0.0); LEDs.setColor(pixel, stopColors, numPixels); } //Robot Status Statements if(robotStatusRequested) { robotStatusRequested = false; sendRobotStatus(); }

33. SAFETY BRAKE AND ROBOT STATUS FUNCTIONS void safetyBrakeCheck(void) { if(!joystickAlive) safetyBrake = true; else joystickAlive = false; } void sendRobotStatus() { char frame[12]; frame[0] = 0x46; frame[1] = 0x21; *((float*) (frame+2)) = getBatteryVoltage(); *((float*) (frame+6)) = imu.getPitch(); *(frame+10) = status; frame[11] = 0x0A; sendSocket.sendTo(broadcastServer, frame, sizeof(frame)); }

34. NEOPIXEL LED DECLARATIONS //NeoPixel LED Declarations #define LED_PIN p5 // The pixel array control class. using namespace neopixel; //For neopixel LED Library PixelArray LEDs(LED_PIN); #define numPixels 3 Pixel pixel[numPixels]; //Array of pixel structures holding the colors of each pixel uint8_t stopColors[numPixels*3] = {50,0,0, 50,0,0, 50,0,0}; //RGB colors of the three pixels uint8_t driveColors[numPixels*3] = {0,150,0, 0,150,0, 0,150,0}; uint8_t steerColors[numPixels*3] = {0,0,150, 0,0,150, 0,0,150};

35. NEOPIXEL LED //Add to openLoop() function if (packetBuffer[1]==127) { if (packetBuffer[4]==127) LEDs.setColor(pixel, stopColors, numPixels); else LEDs.setColor(pixel, steerColors, numPixels); } else LEDs.setColor(pixel, driveColors, numPixels);

36. ENCODER DECLARATIONS //Motor Encoder Pinout Declarations #define LEFT_CH_A p30 #define LEFT_CH_B p29 #define RIGHT_CH_A p28 #define RIGHT_CH_B p27 //Declaration of the Quadrature Encoders on the two Motors QEI leftEncoder(LEFT_CH_A, LEFT_CH_B, NC, 16, QEI::Encoding); QEI rightEncoder(RIGHT_CH_A, RIGHT_CH_B, NC, 16, QEI::Encoding);

37. TEAMS MechanicalElectronicsEmbedded Programming Team 1 Bingjie ChenYANG LIUUsman Amin Fiaz Muhammad Akram Karimi Muxingzi Li Team 2 Aaron Sanchez YanezRen LiMartin Velazquez-RizoYazeed AlHarbiJorge Rosas Team 3 Ditho PulunganAyman KaramHassan AlmutawaYomna Al IbrahimHind Alamro Team 4 Mayadah AlhashemAbdullah Alshehri Carmen Leticia Castrejon Barron Sarah AlghamdiNoureddine Toumi Team 5 Mireille HantoucheKhalil MoussiPo-Chun ChenJean LahoudNura Aljaafari Team 6 Zhen JianAbdullah AlmansouriShuai YANGFurrukh SanaRana Al-Rabeh