Revision 0:2ab9f4a3187a, committed 2015-08-20

Comitter:

omarrasheedk

Date:

Thu Aug 20 21:51:12 2015 +0000

Commit message:

V1 of ParallaxRobotShield

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ParallaxRobotShield.cpp	Thu Aug 20 21:51:12 2015 +0000
@@ -0,0 +1,151 @@
+#include "ParallaxRobotShield.h"
+#include "mbed.h"
+
+ParallaxRobotShield::ParallaxRobotShield(PinName leftPin, PinName rightPin) : leftServo(leftPin) , rightServo(rightPin)
+{
+    leftPosition = 1450;
+    rightPosition = 1550;    
+}
+
+void ParallaxRobotShield::left_servo(int speed)
+{
+    speed = 1496 - (speed * 2);
+    leftPosition = speed;
+}
+
+
+void ParallaxRobotShield::right_servo(int speed)
+{
+    speed = 1490 + (speed * 2);
+    rightPosition = speed;
+}
+
+//void ParallaxRobotShield::StartPulse() 
+//{
+//    ServoPin = 1;
+//    PulseStop.attach_us(this, &ParallaxRobotShield::EndPulse, Position);
+//}
+
+void ParallaxRobotShield::disable_left_motor()  // Just for internal functions
+{
+    leftServo = 0;
+}
+//void ParallaxRobotShield::EndPulse() 
+//{
+//    ServoPin = 0;
+//}
+void ParallaxRobotShield::disable_right_motor() // Just for internal functions
+{
+    rightServo = 0;
+}
+
+
+void ParallaxRobotShield::enable_left_motor()
+{
+    leftServo = 1;
+    leftPulse.attach_us(this, &ParallaxRobotShield::enable_left_motor, 20000);      // Period is set to 20000 us by default which is equal to 50 Hz
+    leftPulseStop.attach_us(this, &ParallaxRobotShield::disable_left_motor, leftPosition);
+}
+
+
+void ParallaxRobotShield::enable_right_motor()
+{
+    rightServo = 1;
+    rightPulse.attach_us(this, &ParallaxRobotShield::enable_right_motor, 20000);    // Period is set to 20000 us by default which is equal to 50 Hz
+    rightPulseStop.attach_us(this, &ParallaxRobotShield::disable_right_motor, rightPosition);
+}
+
+
+void ParallaxRobotShield::turn_left(int speed)
+{
+    stopRight();
+    int i;
+    for(i = 0; i < 100; i++)
+    {
+        left_servo(speed);
+        wait_ms(10);    
+    }
+    enable_right_motor();
+}
+
+
+void ParallaxRobotShield::turn_right(int speed)
+{
+    stopLeft();
+    int i;
+    for(i = 0; i < 100; i++)
+    {
+        right_servo(speed);
+        wait_ms(10);    
+    }
+    enable_left_motor();
+}
+
+
+void ParallaxRobotShield::forward(int speed)
+{
+    int i;
+    for(i = 0; i < 100; i++)
+    {
+        left_servo(speed);
+        right_servo(speed); 
+        wait_ms(20);
+    }
+}
+
+
+void ParallaxRobotShield::backward(int speed)
+{
+    forward(-speed);
+}
+
+
+void ParallaxRobotShield::left(int speed)
+{
+    int i;
+    for(i = 0; i < 100; i++)
+    {
+        left_servo(speed);
+        right_servo(-speed); 
+        wait_ms(20);
+    }
+}
+
+
+void ParallaxRobotShield::right(int speed)
+{
+    left(-speed);
+}
+
+
+void ParallaxRobotShield::stopLeft()
+{
+    leftPulse.detach();
+}
+
+void ParallaxRobotShield::stopRight()
+{
+    rightPulse.detach();
+}
+
+
+void ParallaxRobotShield::stop(int motor)
+{
+    if(motor == 1)
+        stopRight();
+    else if(motor == 2)
+        stopLeft();
+}
+
+
+void ParallaxRobotShield::stopAll()
+{
+    stopRight();
+    stopLeft();
+}
+
+//void ParallaxRobotShield::Enable(int StartPos, int Period) 
+//{
+//    leftPosition = StartPos;
+//    leftPulse.attach_us(this, &ParallaxRobotShield::enable_left_motor, Period);
+//}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ParallaxRobotShield.h	Thu Aug 20 21:51:12 2015 +0000
@@ -0,0 +1,189 @@
+#include "mbed.h"
+// us means microseconds
+
+/** Parallax Robot Shield Control Class
+ *
+ */
+class ParallaxRobotShield
+{
+    public:
+    
+        /** Create a new ParallaxRobotShield object on any mbed pin
+        *
+        * @param leftPin Left Servomotor Signal pin
+        * @param rightPin Right Servomotor Signal pin
+        */
+        ParallaxRobotShield(PinName leftPin = D10, PinName rightPin = D11);
+        
+    
+        /** Change the position of the servo. Position in us.
+         *
+         * @param NewPos The new value of the servos position (us)
+         */
+        //void SetPosition(int NewPos);
+    
+    
+        /** Enable the servo. Without enabling, the servo won't be running. Startposition and period both in us.
+         *
+         * @param StartPos The position of the servo to start (us) 
+         * @param Period The time between every pulse. 20000 us = 50 Hz(standard) (us)
+         */
+        //void Enable(int StartPos, int Period);
+        
+        
+        /** Disable the servo. After disabling the servo won't get any signal anymore
+         *
+         */
+        //void Disable();
+        
+        
+        /** Create a robot shield object************************************************************************************************
+         *
+         * @param leftServo Left Servomotor Signal pin, default D13
+         * @param rightServo RightServomotor Signal pin, default D14
+         * @param whisker Whisker digital pin connection, default D7
+         * @param lightSensor Sensor signal pin, default D6
+         * @param bumpSensor Sensor signal pin, default D5
+         * @param HCSR04sensor Sensor in-right pin, default D4 // For later - Need Trigger and RCC
+         */
+//------>ParallaxRobotShield(PinName leftServo, PinName rightServo , PinName whisker, PinName lightSensor, PinName bumpSensor);
+
+        
+
+        /** Switch on the left servo at the given speed. Can be used with loops to run the left servomotor.
+         *  @param speed The speed, from 0 to 100 at which to spin the servomotor.
+         */
+        void left_servo(int speed);
+        
+        
+        
+        /** Switch on the right servo at the given speed. Can be used with loops to run the right servomotor.
+         *  @param speed The speed, from 0 to 100 at which to spin the servomotor.
+         */
+        void right_servo(int speed);
+        
+        
+        
+        /** Switch on both servomotors, forwards at the given speed.
+         *  @param speed The speed, from 0 to 100 at which to spin the servomotors.
+         */
+        void forward(int speed);
+        
+        
+        
+        /** Switch on both servomotors, backwards at the given speed.
+         *  @param speed The speed, from 0 to 100 at which to spin the servomotors.
+         */
+        void backward(int speed);
+        
+        
+        
+        /** Switch on both servomotors at the given speed, in opposite directions so as to turn left.
+         *  @param speed The speed, from 0 to 100 at which to spin the servomotors.
+        */
+        void left(int speed);
+        
+        
+        
+        /** Switch on both servomotors at the given speed, in opposite directions so as to turn right.
+         *  @param speed The speed, from 0 to 100 at which to spin the servomotors.
+         */
+        void right(int speed);
+        
+        
+        
+        /** Turns left.
+         *  @param speed The speed, from 0 to 100 at which to spin the servomotors.
+         */
+        void turn_left(int speed);
+        
+        
+        
+        /** Turns right.
+         *  @param speed The speed, from 0 to 100 at which to spin the servomotors.
+         */
+        void turn_right(int speed);
+        
+        
+        
+        /** Disable the left motor
+         */
+        void disable_left_motor();  // Just for internal functions
+        
+        
+        
+        /** Disable the right servomotor
+         */
+        void disable_right_motor(); // Just for internal functions
+        
+        
+        
+        /** Enable the left servomotor
+         */
+        void enable_left_motor();
+        
+        
+        
+        /** Enable the left servomotor
+         */
+        void enable_right_motor();
+        
+        
+        
+        /** Stop a chosen motor.
+         *  @param motor Number, either, 1 = Right or 2 = Left, choosing the motor.
+         */
+        void stop(int motor);
+        
+        
+        
+        /** Stop left servomotor.
+         */
+        void stopLeft();
+        
+        
+        
+        /** Stop right servomotor.
+         */
+        void stopRight();
+        
+        
+        
+        /** Stop both servomotors at the same time. Different from disable.
+         */
+        void stopAll();
+        
+        
+        
+        // Need to do something to do with detected line...
+        
+        /** Gives an indication of the data given by the reflectivity sensors.*************************************************************************************
+         */
+        float line_position();
+        
+        //DigitalIn lightSensor;
+        //DigitalIn bumpSensor;
+        //DigitalIn whisker;
+
+        
+    private: // Use whatever data type you need
+    
+        //void StartPulse();
+        //void EndPulse();
+
+        int leftPosition;
+        int rightPosition;
+
+        DigitalOut leftServo;
+        DigitalOut rightServo;
+        
+        Ticker leftPulse;
+        Ticker rightPulse;
+        
+        Timeout leftPulseStop;
+        Timeout rightPulseStop;
+        
+        //PwmOut rightServo;
+        //PwmOut leftServo;
+        
+};
\ No newline at end of file