ARSLab / ParallaxRobotShield-V1

V1 of the ParallaxRobotShield library

ParallaxRobotShield.cpp@0:2ab9f4a3187a, 2015-08-20 (annotated)

Committer:
omarrasheedk
Date:
Thu Aug 20 21:51:12 2015 +0000
Revision:
0:2ab9f4a3187a
V1 of ParallaxRobotShield

Who changed what in which revision?

UserRevisionLine numberNew contents of line
omarrasheedk 0:2ab9f4a3187a 1 #include "ParallaxRobotShield.h"
omarrasheedk 0:2ab9f4a3187a 2 #include "mbed.h"
omarrasheedk 0:2ab9f4a3187a 3
omarrasheedk 0:2ab9f4a3187a 4 ParallaxRobotShield::ParallaxRobotShield(PinName leftPin, PinName rightPin) : leftServo(leftPin) , rightServo(rightPin)
omarrasheedk 0:2ab9f4a3187a 5 {
omarrasheedk 0:2ab9f4a3187a 6 leftPosition = 1450;
omarrasheedk 0:2ab9f4a3187a 7 rightPosition = 1550;
omarrasheedk 0:2ab9f4a3187a 8 }
omarrasheedk 0:2ab9f4a3187a 9
omarrasheedk 0:2ab9f4a3187a 10 void ParallaxRobotShield::left_servo(int speed)
omarrasheedk 0:2ab9f4a3187a 11 {
omarrasheedk 0:2ab9f4a3187a 12 speed = 1496 - (speed * 2);
omarrasheedk 0:2ab9f4a3187a 13 leftPosition = speed;
omarrasheedk 0:2ab9f4a3187a 14 }
omarrasheedk 0:2ab9f4a3187a 15
omarrasheedk 0:2ab9f4a3187a 16
omarrasheedk 0:2ab9f4a3187a 17 void ParallaxRobotShield::right_servo(int speed)
omarrasheedk 0:2ab9f4a3187a 18 {
omarrasheedk 0:2ab9f4a3187a 19 speed = 1490 + (speed * 2);
omarrasheedk 0:2ab9f4a3187a 20 rightPosition = speed;
omarrasheedk 0:2ab9f4a3187a 21 }
omarrasheedk 0:2ab9f4a3187a 22
omarrasheedk 0:2ab9f4a3187a 23 //void ParallaxRobotShield::StartPulse()
omarrasheedk 0:2ab9f4a3187a 24 //{
omarrasheedk 0:2ab9f4a3187a 25 // ServoPin = 1;
omarrasheedk 0:2ab9f4a3187a 26 // PulseStop.attach_us(this, &ParallaxRobotShield::EndPulse, Position);
omarrasheedk 0:2ab9f4a3187a 27 //}
omarrasheedk 0:2ab9f4a3187a 28
omarrasheedk 0:2ab9f4a3187a 29 void ParallaxRobotShield::disable_left_motor() // Just for internal functions
omarrasheedk 0:2ab9f4a3187a 30 {
omarrasheedk 0:2ab9f4a3187a 31 leftServo = 0;
omarrasheedk 0:2ab9f4a3187a 32 }
omarrasheedk 0:2ab9f4a3187a 33 //void ParallaxRobotShield::EndPulse()
omarrasheedk 0:2ab9f4a3187a 34 //{
omarrasheedk 0:2ab9f4a3187a 35 // ServoPin = 0;
omarrasheedk 0:2ab9f4a3187a 36 //}
omarrasheedk 0:2ab9f4a3187a 37 void ParallaxRobotShield::disable_right_motor() // Just for internal functions
omarrasheedk 0:2ab9f4a3187a 38 {
omarrasheedk 0:2ab9f4a3187a 39 rightServo = 0;
omarrasheedk 0:2ab9f4a3187a 40 }
omarrasheedk 0:2ab9f4a3187a 41
omarrasheedk 0:2ab9f4a3187a 42
omarrasheedk 0:2ab9f4a3187a 43 void ParallaxRobotShield::enable_left_motor()
omarrasheedk 0:2ab9f4a3187a 44 {
omarrasheedk 0:2ab9f4a3187a 45 leftServo = 1;
omarrasheedk 0:2ab9f4a3187a 46 leftPulse.attach_us(this, &ParallaxRobotShield::enable_left_motor, 20000); // Period is set to 20000 us by default which is equal to 50 Hz
omarrasheedk 0:2ab9f4a3187a 47 leftPulseStop.attach_us(this, &ParallaxRobotShield::disable_left_motor, leftPosition);
omarrasheedk 0:2ab9f4a3187a 48 }
omarrasheedk 0:2ab9f4a3187a 49
omarrasheedk 0:2ab9f4a3187a 50
omarrasheedk 0:2ab9f4a3187a 51 void ParallaxRobotShield::enable_right_motor()
omarrasheedk 0:2ab9f4a3187a 52 {
omarrasheedk 0:2ab9f4a3187a 53 rightServo = 1;
omarrasheedk 0:2ab9f4a3187a 54 rightPulse.attach_us(this, &ParallaxRobotShield::enable_right_motor, 20000); // Period is set to 20000 us by default which is equal to 50 Hz
omarrasheedk 0:2ab9f4a3187a 55 rightPulseStop.attach_us(this, &ParallaxRobotShield::disable_right_motor, rightPosition);
omarrasheedk 0:2ab9f4a3187a 56 }
omarrasheedk 0:2ab9f4a3187a 57
omarrasheedk 0:2ab9f4a3187a 58
omarrasheedk 0:2ab9f4a3187a 59 void ParallaxRobotShield::turn_left(int speed)
omarrasheedk 0:2ab9f4a3187a 60 {
omarrasheedk 0:2ab9f4a3187a 61 stopRight();
omarrasheedk 0:2ab9f4a3187a 62 int i;
omarrasheedk 0:2ab9f4a3187a 63 for(i = 0; i < 100; i++)
omarrasheedk 0:2ab9f4a3187a 64 {
omarrasheedk 0:2ab9f4a3187a 65 left_servo(speed);
omarrasheedk 0:2ab9f4a3187a 66 wait_ms(10);
omarrasheedk 0:2ab9f4a3187a 67 }
omarrasheedk 0:2ab9f4a3187a 68 enable_right_motor();
omarrasheedk 0:2ab9f4a3187a 69 }
omarrasheedk 0:2ab9f4a3187a 70
omarrasheedk 0:2ab9f4a3187a 71
omarrasheedk 0:2ab9f4a3187a 72 void ParallaxRobotShield::turn_right(int speed)
omarrasheedk 0:2ab9f4a3187a 73 {
omarrasheedk 0:2ab9f4a3187a 74 stopLeft();
omarrasheedk 0:2ab9f4a3187a 75 int i;
omarrasheedk 0:2ab9f4a3187a 76 for(i = 0; i < 100; i++)
omarrasheedk 0:2ab9f4a3187a 77 {
omarrasheedk 0:2ab9f4a3187a 78 right_servo(speed);
omarrasheedk 0:2ab9f4a3187a 79 wait_ms(10);
omarrasheedk 0:2ab9f4a3187a 80 }
omarrasheedk 0:2ab9f4a3187a 81 enable_left_motor();
omarrasheedk 0:2ab9f4a3187a 82 }
omarrasheedk 0:2ab9f4a3187a 83
omarrasheedk 0:2ab9f4a3187a 84
omarrasheedk 0:2ab9f4a3187a 85 void ParallaxRobotShield::forward(int speed)
omarrasheedk 0:2ab9f4a3187a 86 {
omarrasheedk 0:2ab9f4a3187a 87 int i;
omarrasheedk 0:2ab9f4a3187a 88 for(i = 0; i < 100; i++)
omarrasheedk 0:2ab9f4a3187a 89 {
omarrasheedk 0:2ab9f4a3187a 90 left_servo(speed);
omarrasheedk 0:2ab9f4a3187a 91 right_servo(speed);
omarrasheedk 0:2ab9f4a3187a 92 wait_ms(20);
omarrasheedk 0:2ab9f4a3187a 93 }
omarrasheedk 0:2ab9f4a3187a 94 }
omarrasheedk 0:2ab9f4a3187a 95
omarrasheedk 0:2ab9f4a3187a 96
omarrasheedk 0:2ab9f4a3187a 97 void ParallaxRobotShield::backward(int speed)
omarrasheedk 0:2ab9f4a3187a 98 {
omarrasheedk 0:2ab9f4a3187a 99 forward(-speed);
omarrasheedk 0:2ab9f4a3187a 100 }
omarrasheedk 0:2ab9f4a3187a 101
omarrasheedk 0:2ab9f4a3187a 102
omarrasheedk 0:2ab9f4a3187a 103 void ParallaxRobotShield::left(int speed)
omarrasheedk 0:2ab9f4a3187a 104 {
omarrasheedk 0:2ab9f4a3187a 105 int i;
omarrasheedk 0:2ab9f4a3187a 106 for(i = 0; i < 100; i++)
omarrasheedk 0:2ab9f4a3187a 107 {
omarrasheedk 0:2ab9f4a3187a 108 left_servo(speed);
omarrasheedk 0:2ab9f4a3187a 109 right_servo(-speed);
omarrasheedk 0:2ab9f4a3187a 110 wait_ms(20);
omarrasheedk 0:2ab9f4a3187a 111 }
omarrasheedk 0:2ab9f4a3187a 112 }
omarrasheedk 0:2ab9f4a3187a 113
omarrasheedk 0:2ab9f4a3187a 114
omarrasheedk 0:2ab9f4a3187a 115 void ParallaxRobotShield::right(int speed)
omarrasheedk 0:2ab9f4a3187a 116 {
omarrasheedk 0:2ab9f4a3187a 117 left(-speed);
omarrasheedk 0:2ab9f4a3187a 118 }
omarrasheedk 0:2ab9f4a3187a 119
omarrasheedk 0:2ab9f4a3187a 120
omarrasheedk 0:2ab9f4a3187a 121 void ParallaxRobotShield::stopLeft()
omarrasheedk 0:2ab9f4a3187a 122 {
omarrasheedk 0:2ab9f4a3187a 123 leftPulse.detach();
omarrasheedk 0:2ab9f4a3187a 124 }
omarrasheedk 0:2ab9f4a3187a 125
omarrasheedk 0:2ab9f4a3187a 126 void ParallaxRobotShield::stopRight()
omarrasheedk 0:2ab9f4a3187a 127 {
omarrasheedk 0:2ab9f4a3187a 128 rightPulse.detach();
omarrasheedk 0:2ab9f4a3187a 129 }
omarrasheedk 0:2ab9f4a3187a 130
omarrasheedk 0:2ab9f4a3187a 131
omarrasheedk 0:2ab9f4a3187a 132 void ParallaxRobotShield::stop(int motor)
omarrasheedk 0:2ab9f4a3187a 133 {
omarrasheedk 0:2ab9f4a3187a 134 if(motor == 1)
omarrasheedk 0:2ab9f4a3187a 135 stopRight();
omarrasheedk 0:2ab9f4a3187a 136 else if(motor == 2)
omarrasheedk 0:2ab9f4a3187a 137 stopLeft();
omarrasheedk 0:2ab9f4a3187a 138 }
omarrasheedk 0:2ab9f4a3187a 139
omarrasheedk 0:2ab9f4a3187a 140
omarrasheedk 0:2ab9f4a3187a 141 void ParallaxRobotShield::stopAll()
omarrasheedk 0:2ab9f4a3187a 142 {
omarrasheedk 0:2ab9f4a3187a 143 stopRight();
omarrasheedk 0:2ab9f4a3187a 144 stopLeft();
omarrasheedk 0:2ab9f4a3187a 145 }
omarrasheedk 0:2ab9f4a3187a 146
omarrasheedk 0:2ab9f4a3187a 147 //void ParallaxRobotShield::Enable(int StartPos, int Period)
omarrasheedk 0:2ab9f4a3187a 148 //{
omarrasheedk 0:2ab9f4a3187a 149 // leftPosition = StartPos;
omarrasheedk 0:2ab9f4a3187a 150 // leftPulse.attach_us(this, &ParallaxRobotShield::enable_left_motor, Period);
omarrasheedk 0:2ab9f4a3187a 151 //}