Revision 0:0fd8d387c5a0, committed 2015-08-20

Comitter:

omarrasheedk

Date:

Thu Aug 20 21:50:32 2015 +0000

Commit message:

The old ParallaxRobotShield library

Changed in this revision

diff -r 000000000000 -r 0fd8d387c5a0 ParallaxRobotShield/ParallaxRobotShield.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ParallaxRobotShield/ParallaxRobotShield.cpp	Thu Aug 20 21:50:32 2015 +0000
@@ -0,0 +1,241 @@
+#include "ParallaxRobotShield.h"
+#include "mbed.h"
+
+
+ParallaxRobotShield::ParallaxRobotShield(PinName leftServoPin, PinName rightServoPin, PinName leftWhiskerPin, PinName rightWhiskerPin) : 
+                     leftServo(leftServoPin) , rightServo(rightServoPin) , leftWhisker(leftWhiskerPin) , rightWhisker(rightWhiskerPin), leftServo1(leftServoPin) , rightServo1(rightServoPin)
+{
+    leftPosition = 1500;
+    rightPosition = 1500;
+}
+
+void ParallaxRobotShield::left_servo(int speed)
+{
+    speed = 1500 - (speed * 2);
+    leftPosition = speed;
+}
+
+
+void ParallaxRobotShield::right_servo(int speed)
+{
+    speed = 1500 + (speed * 2);
+    rightPosition = speed;
+}
+
+
+void ParallaxRobotShield::forward(int speed, float time)
+{
+    backward(-speed, time);
+}
+
+
+void ParallaxRobotShield::backward(int speed, float time)
+{
+    time = time * 1000;         // conversion to milliseconds
+    Timer t;
+    t.reset();
+    t.start();
+    while(t.read_ms() != time)
+    {
+        left_servo(speed);
+        right_servo(speed); 
+    }
+    t.stop();
+}
+
+
+void ParallaxRobotShield::left(int speed, float time)
+{
+    time = time * 1000;         // conversion to milliseconds
+    Timer t;
+    t.reset();
+    t.start();
+    while(t.read_ms() != time)
+    {
+        left_servo(speed);
+        right_servo(-speed); 
+    }
+    t.stop();
+}
+
+
+void ParallaxRobotShield::right(int speed, float time)
+{
+    left(-speed, time);
+}
+
+
+void ParallaxRobotShield::turn_left(int speed, float time)
+{
+    time = time * 1000;         // conversion to milliseconds
+    stopRight();
+    Timer t;
+    t.reset();
+    t.start();
+    while(t.read_ms() != time)
+        left_servo(speed);  
+    t.stop();
+    enable_right_motor();
+}
+
+
+void ParallaxRobotShield::turn_right(int speed, float time)
+{
+    time = time * 1000;         // conversion to milliseconds
+    stopLeft();
+    Timer t;
+    t.reset();
+    t.start();
+    while(t.read_ms() != time)
+        right_servo(speed);
+    t.stop();
+    enable_left_motor();
+}
+
+
+void ParallaxRobotShield::disable_left_motor()  // Just for internal functions
+{
+    leftServo = 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::stop(int motor)
+{
+    if(motor == 1)
+        stopRight();
+    else if(motor == 2)
+        stopLeft();
+}
+
+
+void ParallaxRobotShield::stopLeft()
+{
+    leftPulse.detach();
+}
+
+
+void ParallaxRobotShield::stopRight()
+{
+    rightPulse.detach();
+}
+
+
+void ParallaxRobotShield::stopAll()
+{
+    stopRight();
+    stopLeft();
+}
+
+
+int ParallaxRobotShield::leftWhiskerContact()
+{
+    if(leftWhisker.read() == 0)
+        return 1;
+    else     
+        return 0;
+}
+
+
+int ParallaxRobotShield::rightWhiskerContact()
+{
+    if(rightWhisker.read() == 0)
+        return 1;
+    else     
+        return 0;
+}
+
+
+int ParallaxRobotShield::lightSensor(PinName lightSensor)
+{
+    DigitalInOut QTR(lightSensor);       // the QTR-1RC light sensor
+    int black;
+    Timer t;
+    QTR.output();
+    QTR = 1;
+    t.start();
+    QTR.input();
+    while (QTR == 1 || t.read_us() < 3000);
+    black = t.read_us();        
+    t.stop();
+    t.reset();
+        
+    if(black > 3100)       // Black
+        return 1; 
+    else 
+        return 0; 
+}
+
+
+int ParallaxRobotShield::bumpSensor(PinName bumpSensor)
+{
+    DigitalIn bump(bumpSensor);       // the 10 cm Sharp GP2Y0D810Z0F Digital Distance Sensor
+    if(bump.read() == 0)
+        return 1;
+    else
+        return 0;
+}
+
+
+double ParallaxRobotShield::distanceSensor(PinName trigPin, PinName echoPin)
+{
+    DigitalOut trig(trigPin);       // Sends out an Ultasonicsonic signal
+    DigitalIn echo(echoPin);        // Recieves an Ultasonicsonic signal
+    Timer timer;        // for measuring the duration of the signal's joyless journey
+    
+    timer.reset();
+    trig = 0;
+    wait_us(2);
+    trig = 1;
+    wait_us(10);
+    trig = 0;
+    while(echo == 0);
+    timer.start();
+    while(echo == 1);
+    timer.stop();
+
+    // Distance = ( (Duration of travel) * (Speed of Ultasonicsonic: 340m/s) ) / 2
+    return (timer.read_us() * 0.034) / 2.0;        // Microseconds are used for accuracy
+}
+
+
+/** Optional implementation for future use
+void ParallaxRobotShield::whiskersLED(PinName left_LED, PinName right_LED)
+{
+    DigitalOut leftLED(left_LED);
+    DigitalOut rightLED(right_LED);
+    if(leftWhiskerContact())
+    {
+        leftLED = 1;
+        wait(0.1);
+    }
+    if(rightWhiskerContact())
+    {
+       rightLED = 1;    
+       wait(0.1);
+    }
+    leftLED = 0;
+    rightLED = 0;
+}
+*/
\ No newline at end of file

diff -r 000000000000 -r 0fd8d387c5a0 ParallaxRobotShield/ParallaxRobotShield.h
--- /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)
+        
+};
\ No newline at end of file

diff -r 000000000000 -r 0fd8d387c5a0 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Aug 20 21:50:32 2015 +0000
@@ -0,0 +1,18 @@
+#include "mbed.h"
+#include "ParallaxRobotShield.h"
+
+int main( )
+{   
+    ParallaxRobotShield Parallax(D10, D11, PB_4, PA_8);         // Corresponding pins are initialized
+    Parallax.enable_left_motor();
+    Parallax.enable_right_motor();
+    
+    DigitalOut led(PA_10);      // An LED for testing the left whisker   
+    while(1)
+    {
+        if(Parallax.lightSensor(PB_10) == 1)
+            Parallax.forward(100, 1);
+        Parallax.right(100, 1);
+    }
+    return 1;
+}
\ No newline at end of file

diff -r 000000000000 -r 0fd8d387c5a0 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Thu Aug 20 21:50:32 2015 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/7cff1c4259d7
\ No newline at end of file