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Janus

Team Members:

Oliver Bunner (Section A) and Gino Doumit (Section B)

Georgia Institute of Technology

Project Overview

Idea

Janus is a robot car that is easy to setup and use. The device aims to provide a smooth experience for any person who wants to operate a

Features
  • Control the car's movement using the Bluetooth app
  • Control the car's movement using sound
  • Control the car's speakers using the Bluetooth app
  • View the state the car is in on the LCD
Video

Janus Video

Controls

Arrows:

  • Move the car in the direction the arrows are pointed in.

Buttons:

  • 1 - Play a honk sound on the speaker
  • 2 - Spins the car in place
  • 3 - Voice controlled forwards
  • 4 - Voice controlled backwards
Future Additions
  • Self-drive mode
  • Selecting songs to play from an online library
  • Developping a dedicated mobile app
  • Adding cameras onto the car and being able to see from the car's perspective

Setup

Parts Used

N.B: All of the parts used are the ones present in the links.

Schematic

Schematic for Janus

Wiring

mBed Wiring uLCD Wiring Microphone Wiring Speaker Wiring Bluetooth Chip Wiring Motors + H-Bridge Wiring

Software

To upload the code to your mBed, there are two options. The first option is to import the src file found in this repository to your mBed compiler. The other option is to copy the code found below into your main.cpp file in your mBed compiler. However, if you are using the second option, then be sure to import all of the necessary libraries.

#include "mbed.h"
#include "Motor.h"
#include "uLCD_4DGL.h"

DigitalOut led1(LED1);
DigitalOut led2(LED2);
DigitalOut led3(LED3);
DigitalOut led4(LED4);

Motor RM(p21, p6, p5); // pwm, fwd, rev - RIGHT MOTOR
Motor LM(p22, p7, p8); // pwm, fwd, rev - LEFT MOTOR
PwmOut speaker(p23);
Serial ble(p13, p14); // tx, rx
uLCD_4DGL uLCD(p28, p27, p29); // tx, rx, reset

class microphone
{
public :
    microphone(PinName pin);
    float read();
    operator float ();
private :
    AnalogIn _pin;
};
microphone::microphone (PinName pin):
    _pin(pin)
{
}
float microphone::read()
{
    return _pin.read();
}
inline microphone::operator float ()
{
    return _pin.read();
}
microphone mymicrophone(p16);



volatile char c = '0';
volatile char hit = '0';
volatile unsigned int volume = 0;
volatile unsigned int moving = 0;
volatile unsigned int mic = 0;


void Microphone()
{
    int previous = 0;
    int count = 0;
    int voice = 0;
    int threshold = 0;
    int current = 0;
    volume = 0;

    while (count < 16000) {
        voice = int(abs((mymicrophone - (0.67/3.3)))*500.0);
        wait(1.0/8000.0);
        count = count+1;
    }
    previous = voice;
    threshold = voice + 15;
    led2 = 1;
    led3 = 1;
    count = 0;
    while (((int(voice) < threshold) || (previous >= (current-2))) && (count < 40000)) {
        voice = int(abs((mymicrophone - (0.67/3.3)))*500.0);
        wait(1.0/8000.0);
        current = voice;
        count = count + 1;
        if (current < previous) previous = current;
    }
    if(count>=40000) {
        volume = 0;
    } else {
        volume = 1;
    }
    led2 = 0;
    led3 = 0;
    mic = 1;
}



int main()
{
    speaker.period(1.0/800.0);
    uLCD.text_height(2);
    uLCD.text_width(2);
    uLCD.color(BLUE);
    uLCD.printf("Dashboard");
    uLCD.locate(1,2);
    uLCD.color(GREEN);
    uLCD.printf("PARK");
    uLCD.color(RED);
    uLCD.locate(1,4);
    uLCD.printf("REVERSE");
    uLCD.locate(1,6);
    uLCD.printf("DRIVE");
    while(1) {
        if(ble.getc() == '!') {
            if(ble.getc() == 'B') {
                c = ble.getc();
                hit = ble.getc();
                if(ble.getc() == char(~('!' + 'B' + c + hit))) {
                    switch(c) {
                        case '1': // Button 1 - Honks
                            if (hit == '1') {
                                speaker = 0.5;
                                moving = 5;

                            } else {
                                speaker = 0.0;
                                moving = 0;
                            }
                            break;
                        case '2':
                            if(hit == '1') {
                                LM.speed(1.0);
                                RM.speed(-1.0);
                                moving = 6;
                            } else {
                                LM.speed(0.0);
                                RM.speed(0.0);
                                moving = 0;
                            }
                            break;
                        case '3': // Button 3 - voice controlled forward mvmt
//                            pc.printf("hit: %c mic: %d", hit, mic);
                            if ((hit == '1') && (mic == 0))
                                Microphone();
                            if ((volume == 1) && (hit == '1')) {
                                LM.speed(1.0);
                                RM.speed(1.0);
                                moving = 1;
                            } else if ((volume == 0) && (hit == '1')) {
                                LM.speed(0.0);
                                RM.speed(0.0);
                                moving = 0;
                                volume = 0;
                            } else if (hit == '0') {
                                LM.speed(0.0);
                                RM.speed(0.0);
                                moving = 0;
                                volume = 0;
                                mic = 0;
                            }
                            break;
                        case '4': // Button 4 - voice controlled backward mvmt
                            if ((hit == '1') && (mic == 0))
                                Microphone();
                            if ((volume == 1) && (hit == '1')) {
                                LM.speed(-1.0);
                                RM.speed(-1.0);
                                moving = 3;
                            } else if ((volume == 0) && (hit == '1')) {
                                LM.speed(0.0);
                                RM.speed(0.0);
                                moving = 0;
                                volume = 0;
                            } else if (hit == '0') {
                                LM.speed(0.0);
                                RM.speed(0.0);
                                moving = 0;
                                volume = 0;
                                mic = 0;
                            }
                            break;
                        case '5': // UP Arrow
                            if(hit == '1') {
                                LM.speed(1.0);
                                RM.speed(1.0);
                                moving = 1;
                            } else {
                                LM.speed(0.0);
                                RM.speed(0.0);
                                moving = 0;
                            }
                            break;
                        case '6': // DOWN Arrow
                            if(hit == '1') {
                                LM.speed(-1.0);
                                RM.speed(-1.0);
                                moving = 3;
                            } else {
                                LM.speed(0.0);
                                RM.speed(0.0);
                                moving = 0;
                            }
                            break;
                        case '7': // LEFT Arrow
                            if(hit == '1') {
                                LM.speed(0.0);
                                RM.speed(1.0);
                                moving = 4;
                            } else {
                                LM.speed(0.0);
                                RM.speed(0.0);
                                moving = 0;
                            }
                            break;
                        case '8': // RIGHT Arrow
                            if(hit == '1') {
                                LM.speed(1.0);
                                RM.speed(0.0);
                                moving = 2;
                            } else {
                                LM.speed(0.0);
                                RM.speed(0.0);
                                moving = 0;
                            }
                            break;

                    }
                }
            }
        }
        switch(moving) {
            case 0:
                led1 = 0;
                led4 = 0;
                uLCD.cls();
                uLCD.text_height(2);
                uLCD.text_width(2);
                uLCD.color(BLUE);
                uLCD.printf("Dashboard");
                uLCD.color(GREEN);
                uLCD.locate(1,2);
                uLCD.printf("PARK");

                uLCD.color(RED);
                uLCD.locate(1,4);
                uLCD.printf("REVERSE");
                uLCD.locate(1,6);
                uLCD.printf("DRIVE");
                break;
            case 1:
                uLCD.cls();
                uLCD.text_height(2);
                uLCD.text_width(2);
                uLCD.color(BLUE);
                uLCD.printf("Dashboard");
                uLCD.color(GREEN);
                uLCD.locate(1,6);
                uLCD.printf("DRIVE");

                uLCD.color(RED);
                uLCD.locate(1,2);
                uLCD.printf("PARK");
                uLCD.locate(1,4);
                uLCD.printf("REVERSE");
                break;
            case 2:
                led1 = 1;
                uLCD.cls();
                uLCD.text_height(2);
                uLCD.text_width(2);
                uLCD.color(BLUE);
                uLCD.printf("Dashboard");
                uLCD.color(GREEN);
                uLCD.locate(1,6);
                uLCD.printf("DRIVE");

                uLCD.color(RED);
                uLCD.locate(1,2);
                uLCD.printf("PARK");
                uLCD.locate(1,4);
                uLCD.printf("REVERSE");
                break;
            case 3:
                uLCD.cls();
                uLCD.text_height(2);
                uLCD.text_width(2);
                uLCD.color(BLUE);
                uLCD.printf("Dashboard");
                uLCD.color(GREEN);
                uLCD.locate(1,4);
                uLCD.printf("REVERSE");

                uLCD.color(RED);
                uLCD.locate(1,2);
                uLCD.printf("PARK");
                uLCD.locate(1,6);
                uLCD.printf("DRIVE");
                break;
            case 4:
                led4 = 1;
                uLCD.cls();
                uLCD.text_height(2);
                uLCD.text_width(2);
                uLCD.color(BLUE);
                uLCD.printf("Dashboard");
                uLCD.color(GREEN);
                uLCD.locate(1,6);
                uLCD.printf("DRIVE");

                uLCD.color(RED);
                uLCD.locate(1,2);
                uLCD.printf("PARK");
                uLCD.locate(1,4);
                uLCD.printf("REVERSE");
                break;
            case 5:
                uLCD.cls();
                uLCD.text_height(2);
                uLCD.text_width(2);
                uLCD.color(BLUE);
                uLCD.printf("Dashboard");
                uLCD.color(GREEN);
                uLCD.locate(2,4);
                uLCD.printf("HONK!");
                break;
            case 6:
                uLCD.cls();
                uLCD.text_height(2);
                uLCD.text_width(2);
                uLCD.color(BLUE);
                uLCD.printf("Dashboard");
                uLCD.color(GREEN);
                uLCD.locate(2,4);
                uLCD.printf("SPIN!");
                break;

        }

    }
}

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