Diff: mouse.cpp

Revision:

13:5f08195456a4

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mouse.cpp	Tue Dec 15 08:56:36 2015 +0000
@@ -0,0 +1,88 @@
+// CONTAINS ALL MOUSE MOTOR MOVEMENTS. AND LOGIC RELATING TO MOVEMENT.
+
+#include "mouse.h"
+#include "pinouts.h"
+#include "sensors.h"
+
+Mouse::Mouse()
+{
+    sensor_init();
+    pid_reset();
+    
+    mouse_state = STOPPED;
+    turn_direction = INVALID;
+    // TODO complete.
+}
+
+void Mouse::stop()
+{
+    left_forward = 0;
+    left_reverse = 0;
+    right_forward = 0;
+    right_reverse = 0;
+}
+
+// TODO: consider a logic change. whether it's curve turns or whatever. 
+// or just a change from x_speed to w_speed or something. but we should maybe try to
+// separate the x_speed from the w_speed. 
+
+// TODO: consider having separate conditions for turning around as well. added in TURN_DIRECTION.
+void Mouse::turn(TURN_DIRECTION dir, int n_times) 
+{
+    float angle_change = 0;
+    
+    switch(dir)
+    {
+    case LEFT:
+        while (angle_change < gyro_90)
+        {
+            left_forward = 0;
+            right_forward = set_x_speed / right_max_speed;
+            left_reverse = set_x_speed / left_max_speed;
+            right_reverse = 0;
+            
+            pc.printf("gyro read: %f\r\n", _gyro.read());
+            angle_change += _gyro.read() - gyro_offset;
+        }
+        break;
+    case RIGHT:
+        while (angle_change < gyro_90)
+        {
+            left_forward = set_x_speed / left_max_speed;
+            right_forward = 0;
+            left_reverse = 0;
+            right_forward = set_x_speed / right_max_speed;
+            
+            pc.printf("gyro read: %f\r\n", _gyro.read());
+            angle_change += gyro_offset - _gyro.read();
+        }
+        break;
+    default:
+        // error state.
+        break;
+    }
+}
+
+// TODO move_cell is not complete. this is copied code from systick.
+void Mouse::move_cell() {
+    //bacl in business boys.
+//    if (mouse_state == MOVECELL) 
+//    {
+//        forward_counter = 0.5 * (r_enco.getPulses() + l_enco.getPulses());
+//        if (forward_counter > 2000) 
+//        {
+//            forward_counter = 0;
+//            mouse_state = TURNING;
+//                    if (opening_left_ahead) 
+//                    { 
+//                    opening_left_ahead = 0;
+//                    turn_direction = LEFT;
+//                    } 
+//                    else if (opening_right_ahead) 
+//                    {
+//                    opening_right_ahead = 0;
+//                    } 
+//            sensor_reset();   //right? prepare for turn
+//        }
+//    }
+}
\ No newline at end of file