Autonomous line tracking with bump sensor
Fork of SeeedShieldBot by
SeeedStudioShieldBot.h@8:9fd1722259a1, 2014-07-31 (annotated)
- Committer:
- screamer
- Date:
- Thu Jul 31 14:42:21 2014 +0000
- Revision:
- 8:9fd1722259a1
- Parent:
- 7:887c729fd7c1
- Child:
- 9:e7a86f43d5ad
Change default pin for right motor
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
melse | 0:227158f56a11 | 1 | #include "mbed.h" |
melse | 0:227158f56a11 | 2 | |
melse | 3:ccd47cdacb7b | 3 | /** Seeed Studio Shield Bot Control Class |
melse | 5:179e85a68446 | 4 | * In order to use this properly, you need to connect a jumper between pins eight and three on the shield bot, and you can't use either pins 8 or 3, which correspond to PTA13 and PTA12, respectively. |
melse | 6:9479362be27f | 5 | * Also, in order to provide power to the freedom board, when running just of a lipo battery, you need to connect between 5V and VIN on the shield bot. |
melse | 6:9479362be27f | 6 | * Code/notes above only tested with version 0.9b, may not be needed/may not work in other cases... |
melse | 3:ccd47cdacb7b | 7 | */ |
melse | 0:227158f56a11 | 8 | class SeeedStudioShieldBot { |
melse | 0:227158f56a11 | 9 | public: |
melse | 0:227158f56a11 | 10 | |
screamer | 7:887c729fd7c1 | 11 | /** Create a shield bot object |
screamer | 7:887c729fd7c1 | 12 | * |
screamer | 7:887c729fd7c1 | 13 | * @param mot1A Left Motor A pin, default D5 |
screamer | 7:887c729fd7c1 | 14 | * @param mot1B Left Motor B pin, default D6 |
screamer | 7:887c729fd7c1 | 15 | * @param mot1En Left Motor enable pin, default D7 |
screamer | 8:9fd1722259a1 | 16 | * @param mot2A Right Motor A pin, default D8 |
screamer | 7:887c729fd7c1 | 17 | * @param mot2B Right Motor B pin, default D9 |
screamer | 7:887c729fd7c1 | 18 | * @param mot2En Right Motor enable pin, default D10 |
screamer | 7:887c729fd7c1 | 19 | * @param sensor_right Sensor right pin, default A0 |
screamer | 7:887c729fd7c1 | 20 | * @param sensor_inright Sensor in-right pin, default A1 |
screamer | 7:887c729fd7c1 | 21 | * @param sensor_center Sensor right pin, default A2 |
screamer | 7:887c729fd7c1 | 22 | * @param sensor_inleft Sensor in-left pin, default A3 |
screamer | 7:887c729fd7c1 | 23 | * @param sensor_left Sensor left pin, default D4 |
screamer | 7:887c729fd7c1 | 24 | */ |
screamer | 7:887c729fd7c1 | 25 | SeeedStudioShieldBot(PinName mot1A, PinName mot1En, PinName mot1B, PinName mot2A, PinName mot2En, PinName mot2B, PinName sensor_right, PinName sensor_inright, PinName sensor_center, PinName sensor_inleft, PinName sensor_left); |
screamer | 7:887c729fd7c1 | 26 | |
melse | 2:118efce95f3c | 27 | /** Switch on the left motor at the given speed. |
melse | 4:e2d5ac8459a4 | 28 | * @param speed The speed, from 0.0 to 1.0 at which to spin the motor. |
screamer | 7:887c729fd7c1 | 29 | */ |
melse | 0:227158f56a11 | 30 | void left_motor(float speed); |
melse | 4:e2d5ac8459a4 | 31 | |
melse | 4:e2d5ac8459a4 | 32 | /** Switch on the right motor at the given speed. |
melse | 4:e2d5ac8459a4 | 33 | * @param speed The speed, from 0.0 to 1.0 at which to spin the motor. |
screamer | 7:887c729fd7c1 | 34 | */ |
melse | 0:227158f56a11 | 35 | void right_motor(float speed); |
melse | 0:227158f56a11 | 36 | |
melse | 4:e2d5ac8459a4 | 37 | /** Switch on both motors, forwards at the given speed. |
melse | 4:e2d5ac8459a4 | 38 | * @param speed The speed, from 0.0 to 1.0 at which to spin the motor. |
screamer | 7:887c729fd7c1 | 39 | */ |
melse | 0:227158f56a11 | 40 | void forward(float speed); |
melse | 4:e2d5ac8459a4 | 41 | |
melse | 4:e2d5ac8459a4 | 42 | /** Switch on both motors, backwards at the given speed. |
melse | 4:e2d5ac8459a4 | 43 | * @param speed The speed, from 0.0 to 1.0 at which to spin the motor. |
screamer | 7:887c729fd7c1 | 44 | */ |
melse | 0:227158f56a11 | 45 | void backward(float speed); |
melse | 0:227158f56a11 | 46 | |
melse | 4:e2d5ac8459a4 | 47 | /** Switch on both motors at the given speed, in opposite directions so as to turn left. |
melse | 4:e2d5ac8459a4 | 48 | * @param speed The speed, from 0.0 to 1.0 at which to spin the motors. |
melse | 4:e2d5ac8459a4 | 49 | */ |
melse | 0:227158f56a11 | 50 | void left(float speed); |
melse | 4:e2d5ac8459a4 | 51 | |
melse | 4:e2d5ac8459a4 | 52 | /** Switch on both motors at the given speed, in opposite directions so as to turn right. |
melse | 4:e2d5ac8459a4 | 53 | * @param speed The speed, from 0.0 to 1.0 at which to spin the motors. |
screamer | 7:887c729fd7c1 | 54 | */ |
melse | 0:227158f56a11 | 55 | void right(float speed); |
screamer | 7:887c729fd7c1 | 56 | |
screamer | 7:887c729fd7c1 | 57 | /** Turns left. |
screamer | 7:887c729fd7c1 | 58 | * @param speed The speed, from 0.0 to 1.0 at which to spin the motor. |
screamer | 7:887c729fd7c1 | 59 | */ |
screamer | 7:887c729fd7c1 | 60 | void turn_left(float speed); |
screamer | 7:887c729fd7c1 | 61 | |
screamer | 7:887c729fd7c1 | 62 | /** Turns right. |
screamer | 7:887c729fd7c1 | 63 | * @param speed The speed, from 0.0 to 1.0 at which to spin the motor. |
screamer | 7:887c729fd7c1 | 64 | */ |
screamer | 7:887c729fd7c1 | 65 | void turn_right(float speed); |
screamer | 7:887c729fd7c1 | 66 | |
melse | 4:e2d5ac8459a4 | 67 | /** Disable the left motor, by driving enable pin for the second motor low... |
screamer | 7:887c729fd7c1 | 68 | */ |
melse | 2:118efce95f3c | 69 | void disable_left_motor(); |
melse | 4:e2d5ac8459a4 | 70 | |
melse | 4:e2d5ac8459a4 | 71 | /** Disable the left motor, by driving enable pin for the first motor low... |
screamer | 7:887c729fd7c1 | 72 | */ |
melse | 2:118efce95f3c | 73 | void disable_right_motor(); |
melse | 0:227158f56a11 | 74 | |
melse | 4:e2d5ac8459a4 | 75 | /** Enable the left motor, by driving enable pin for the second motor high... |
screamer | 7:887c729fd7c1 | 76 | */ |
melse | 2:118efce95f3c | 77 | void enable_left_motor(); |
melse | 4:e2d5ac8459a4 | 78 | |
melse | 4:e2d5ac8459a4 | 79 | /** Enable the left motor, by driving enable pin for the first motor high... |
screamer | 7:887c729fd7c1 | 80 | */ |
melse | 2:118efce95f3c | 81 | void enable_right_motor(); |
melse | 0:227158f56a11 | 82 | |
melse | 4:e2d5ac8459a4 | 83 | /** Stop a chosen motor. |
melse | 4:e2d5ac8459a4 | 84 | * @param motor Number, either 1 or 2 choosing the motor. |
screamer | 7:887c729fd7c1 | 85 | */ |
melse | 2:118efce95f3c | 86 | void stop(int motor); |
melse | 0:227158f56a11 | 87 | |
screamer | 7:887c729fd7c1 | 88 | /** Stop left motor. |
screamer | 7:887c729fd7c1 | 89 | */ |
screamer | 7:887c729fd7c1 | 90 | void stopLeft(); |
screamer | 7:887c729fd7c1 | 91 | |
screamer | 7:887c729fd7c1 | 92 | /** Stop right motor. |
screamer | 7:887c729fd7c1 | 93 | */ |
screamer | 7:887c729fd7c1 | 94 | void stopRight(); |
screamer | 7:887c729fd7c1 | 95 | |
screamer | 7:887c729fd7c1 | 96 | /** Stop both motors at the same time. Different to disable. |
screamer | 7:887c729fd7c1 | 97 | */ |
screamer | 7:887c729fd7c1 | 98 | void stopAll(); |
screamer | 7:887c729fd7c1 | 99 | |
melse | 0:227158f56a11 | 100 | // Need to do something to do with detected line... |
melse | 0:227158f56a11 | 101 | |
melse | 4:e2d5ac8459a4 | 102 | /** Gives an indication of the data given by the reflectivity sensors. |
screamer | 7:887c729fd7c1 | 103 | */ |
melse | 1:5c40f2a5e1ac | 104 | float line_position(); |
melse | 0:227158f56a11 | 105 | |
melse | 0:227158f56a11 | 106 | DigitalIn rightSensor; |
melse | 0:227158f56a11 | 107 | DigitalIn inRightSensor; |
melse | 0:227158f56a11 | 108 | DigitalIn centreSensor; |
melse | 0:227158f56a11 | 109 | DigitalIn inLeftSensor; |
melse | 0:227158f56a11 | 110 | DigitalIn leftSensor; |
melse | 0:227158f56a11 | 111 | |
melse | 0:227158f56a11 | 112 | private: |
melse | 0:227158f56a11 | 113 | PwmOut motor1A; |
melse | 0:227158f56a11 | 114 | DigitalOut motor1B; |
melse | 0:227158f56a11 | 115 | DigitalOut motor1En; |
melse | 0:227158f56a11 | 116 | |
melse | 0:227158f56a11 | 117 | PwmOut motor2A; |
melse | 0:227158f56a11 | 118 | DigitalOut motor2B; |
melse | 0:227158f56a11 | 119 | DigitalOut motor2En; |
melse | 0:227158f56a11 | 120 | }; |