Diff: ParallaxRobotShield/ParallaxRobotShield.h

Revision:

0:0fd8d387c5a0

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ParallaxRobotShield/ParallaxRobotShield.h	Thu Aug 20 21:50:32 2015 +0000
@@ -0,0 +1,180 @@
+#include "mbed.h"
+
+/**  Parallax Robot Shield Control Class
+ */
+class ParallaxRobotShield
+{
+    public:
+    
+        /** Create a new ParallaxRobotShield object on any mbed pin
+        *
+        * @param leftServoPin Left Servomotor Signal pin - default D10
+        * @param rightServoPin Right Servomotor Signal pin - default D11
+        * @param leftWhiskerPin Left Whisker digital pin connection
+        * @param rightWhiskerPin Right Whisker digital pin connection
+        */
+        ParallaxRobotShield(PinName leftServoPin = D10, PinName rightServoPin = D11, PinName leftWhiskerPin = NC, PinName rightWhiskerPin = NC);
+        
+ 
+        /** 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. - 100 by default
+         */
+        void left_servo(int speed = 100);       // Just for internal functions
+        
+        
+        /** 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. - 100 by default
+         */
+        void right_servo(int speed = 100);      // Just for internal functions
+        
+        
+        /** Switch on both servomotors, forwards at the given speed.
+         *  @param speed The speed, from 0 to 100 at which to spin the servomotors. - 100 by default
+         *  @param time The time period to go forward (in seconds) - 1s by default
+         */
+        void forward(int speed = 100, float time = 1);
+
+        
+        /** Switch on both servomotors, backwards at the given speed.
+         *  @param speed The speed, from 0 to 100 at which to spin the servomotors. - 100 by default
+         *  @param time The time period to go backward (in seconds) - 1s by default
+         */
+        void backward(int speed = 100, float time = 1);
+        
+        
+        /** 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. - 100 by default
+         *  @param time The time period to take a left (in seconds) - 1s by default
+         */
+        void left(int speed = 100, float time = 1);
+                
+        
+        /** 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. - 100 by default
+         *  @param time The time period to take a right (in seconds) - 1s by default
+         */
+        void right(int speed = 100, float time = 1);
+               
+        
+        /** Turns left by switching the right servo off and running the left servo.
+         *  @param speed The speed, from 0 to 100 at which to spin the left servomotor. - 100 by default
+         *  @param time The time period for the left servo to run (in seconds) - 1s by default
+         */
+        void turn_left(int speed = 100, float time = 1);
+               
+        
+        /** Turns right by switching the left servo off and running the right servo.
+         *  @param speed The speed, from 0 to 100 at which to spin the right servomotor. - 100 by default
+         *  @param time The time period for the right servo to run (in seconds) - 1s by default
+         */
+        void turn_right(int speed = 100, float time = 1);
+               
+        
+        /** 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 right 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.
+         */
+        void stopAll();         // Different from disable.
+        
+        
+        /** Returns an integer corresponding to the state of the left whisker.
+         *  @return 1 if the Left whisker is in contact, 0 otherwise.
+         */
+        int leftWhiskerContact();
+        
+        
+        /** Returns an integer corresponding to the state of the right whisker.
+         *  @return 1 if the Right whisker is in contact, 0 otherwise.
+         */
+        int rightWhiskerContact();
+        
+        
+        /** Returns an integer correspondingly if there is a black color is detected.
+         *  Uses the QTR-1RC Light sensor
+         *  @param lightSensor the QTR-1RC signal pin
+         *  @return 1 if Black color is detected, 0 otherwise.
+         */
+        int lightSensor(PinName lightSensor);
+        
+        
+        /** Returns an integer correspondingly if an object is detected within 10cm.
+         *  Uses the Sharp GP2Y0D810Z0F Digital Distance Sensor - 10cm
+         *  @param bumpSensor the pin the bump sensor is connected to.
+         *  @return 1 if something is detected, 0 otherwise.
+         */
+        int bumpSensor(PinName bumpSensor);
+        
+        
+        /** Returns the distance of the nearest object.
+         *  Uses the HC-SR04 Distance Sensor.
+         *  @param trigPin the pin to which the trig pin is connected
+         *  @param echoPin the pin to which the echo pin is connected
+         *  @return the distance in cm.
+         */
+        double distanceSensor(PinName trigPin, PinName echoPin);
+        
+        
+        /** Optional implementation for future use
+         *  Turns on the corresponding LED to indicate if the whisker came into contact.
+         *  @param left_LED the pin to which the left LED is connected to
+         *  @param right_LED the pin to which the right LED is connected to
+         *
+         *  void whiskersLED(PinName left_LED, PinName right_LED);
+         */
+        
+        
+    private:
+    
+        PwmOut leftServo1;
+        PwmOut rightServo1;
+        
+        int leftPosition;       // used for the left servo motor
+        int rightPosition;      // used for the right servo motor
+
+        DigitalOut leftServo;       // the left servo motor
+        DigitalOut rightServo;      // the right servo motor
+        
+        DigitalIn leftWhisker;      // for the left Whisker
+        DigitalIn rightWhisker;     // for the right Whisker
+        
+        Ticker leftPulse;       // for the left servo motor
+        Ticker rightPulse;      // for the right servo motor
+        
+        Timeout leftPulseStop;      // for the left servo motor (Kill switch)
+        Timeout rightPulseStop;     // for the right servo motor (Kill switch)
+        
+};
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