Revision 15:43d6a7e6e64a, committed 2015-05-08

Comitter:

bulmecisco

Date:

Fri May 08 08:39:12 2015 +0000

Parent:

13:3ce84646fd74

Commit message:

Version 3.0

Changed in this revision

--- a/config.h	Mon Apr 27 13:13:45 2015 +0000
+++ b/config.h	Fri May 08 08:39:12 2015 +0000
@@ -18,7 +18,7 @@
 #define DEBUG 0
 //#define FRONTBUTTON       /**< Error shutoff if Bertl moves against a wall*/
 #define HCSR                /**< if ultrsonic is installed*/
-#define MOTORENC P1_12        /**< P1_12: left encoder P1_13: rigth encoder (motor) */
+#define MOTORENC P1_13        /**< P1_12: left encoder P1_13: rigth encoder (motor) */
 
 BusOut NibbleLEDs(P1_8, P1_9, P1_10, P1_11);   /**< 4 yellow LEDs as a bus defined; use it i.e.: karel.NibbleLeds(karel.GetLineValues()); to show line sensor values */
 DigitalOut LED_D10(P1_8);    /**<  wiring first LED_D10 */
@@ -34,13 +34,13 @@
 
 //------------------ CHANGE ONLY IF NESSESARY -------------------------------------
 
-DigitalOut MotorL_EN(p34);    // wiring motor left
-DigitalOut MotorL_FORWARD(P1_1);
-DigitalOut MotorL_REVERSE(P1_0);
+DigitalOut MotorL_EN(p34);          // wiring motor left
+DigitalOut MotorL_FORWARD(P1_1);    // change to P1_0 for Bertl 2015
+DigitalOut MotorL_REVERSE(P1_0);    // change to P1_1 for Bertl 2015
 
-DigitalOut MotorR_EN(p36);     // wiring motor right
-DigitalOut MotorR_FORWARD(P1_3);
-DigitalOut MotorR_REVERSE(P1_4);
+DigitalOut MotorR_EN(p36);          // wiring motor right
+DigitalOut MotorR_FORWARD(P1_3);    // change to P1_4 for Bertl 2015
+DigitalOut MotorR_REVERSE(P1_4);    // change to P1_3 for Bertl 2015
 
 I2C i2c(p28,p27);   
 BusIn linesensor(p18, p16, p19, p17);  
@@ -52,6 +52,11 @@
 
 Serial pc(USBTX, USBRX);      // tx, rx  
 
+// Bertl 2015
+DigitalOut MotorSpg (p30);
+DigitalOut IncrementalgeberSpg (P1_7);
+DigitalOut LinienSensorSpg (P1_6);
+
 #if defined(DEBUG) && DEBUG > 0
  #define DEBUG_PRINT(fmt, args...) fprintf(stderr, "DEBUG: %s:%d:%s(): " fmt, \
     __FILE__, __LINE__, __func__, ##args)

--- a/const.h	Mon Apr 27 13:13:45 2015 +0000
+++ b/const.h	Fri May 08 08:39:12 2015 +0000
@@ -21,7 +21,7 @@
 /*! \var int SPEED
 \brief Bertl speed 0.2 (slow) - 1.0 (fast).
 \warning speed below 0.2 possible the motor won't start */
-const float SPEED = 0.2;    /*  Bertl speed 0.2 (slow) - 1.0 (fast) */
+const float SPEED = 0.4;    /*  Bertl speed 0.2 (slow) - 1.0 (fast) */
 /*! \var int DISTANCE
 \brief one wheel turn is appr. 24 ticks.
 \warning maybe the number has to be adjusted */
@@ -62,4 +62,5 @@
 const int West = 2; 
 const int North = 3;
 const int South = 4;
+
 #endif
\ No newline at end of file

--- a/ur_Bertl.cpp	Mon Apr 27 13:13:45 2015 +0000
+++ b/ur_Bertl.cpp	Fri May 08 08:39:12 2015 +0000
@@ -16,6 +16,10 @@
 // Constructor
 ur_Bertl::ur_Bertl() : _interrupt(MOTORENC)         
 {
+    MotorSpg = 1;
+    IncrementalgeberSpg = 1;
+    LinienSensorSpg = 1;
+
     i2c.frequency(40000);                           // I2C init
     char init1[2] = {0x6, 0x00};
     char init2[2] = {0x7, 0xff};
@@ -41,16 +45,16 @@
 }
 
 // Pulblic methodes
-void ur_Bertl::Move(int move)
+void ur_Bertl::Move()
 {
     int count = _count;
     MotorR_EN=MotorL_EN=1;                  // both motor ENABLE
     MotorR_FORWARD = MotorL_FORWARD = 1;    // both motor forward ON
 #ifdef TIME
-    wait_ms(move);
+    wait_ms(MOVE);
 #else
 
-    while(_count < count+move) {
+    while(_count < count+DISTANCE) {        // DISTANCE maybe change to move
         //if(!FrontIsClear())       // more convenient because there are no accidents :-)
           //  break;
 #ifdef FRONTBUTTON
@@ -62,7 +66,7 @@
 #endif
     MotorR_FORWARD = MotorL_FORWARD = 0;    // both motor off
     MotorR_EN=MotorL_EN=0;
-    if(move == MOVE)
+    //if(move == MOVE)
         wait_ms(250);
 }
 
@@ -109,10 +113,16 @@
     wait_ms(250);           // only to step the robot
 }
 
-void ur_Bertl::ShutOff()
+void ur_Bertl::TurnOff()
 {
     MotorR_FORWARD = MotorL_FORWARD = 0;    // motor OFF
     MotorR_EN=MotorL_EN=0;                  // motor disable
+    MotorSpg = 0;
+    IncrementalgeberSpg = 0;
+    LinienSensorSpg = 0;
+    BlueLedsOFF();
+    TurnLedOff(LED_ALL);
+    NibbleLeds(0x00);
 }
 
 // Public LEDs methodes

--- a/ur_Bertl.h	Mon Apr 27 13:13:45 2015 +0000
+++ b/ur_Bertl.h	Fri May 08 08:39:12 2015 +0000
@@ -148,11 +148,11 @@
     ur_Bertl(PinName pin);      /**< parameterized constructor; on what pin should the interrupt work; SPEED, DISTANCE or ANGLE have to bee defined in config.h */
 
     //void Move();                /**< Robot moves one turn as much as the constant DISTANCE; if one of the buttons fire --> Error()*/      
-    void Move(int move = MOVE);                /**< Robot moves one turn as much as the constant DISTANCE; if one of the buttons fire --> Error()*/      
+    void Move();                /**< Robot moves one turn as much as the constant DISTANCE; if one of the buttons fire --> Error()*/      
     void TurnLeft();            /**< Robot turns left as much as the constant ANGLE*/      
     void PutBeeper();           /**< if Robot has any Beepers in his bag he can put one or more Beeper; if not --> Error(()*/  
     void PickBeeper();          /**< if Robot stands on a black item he can pick one or more Beeper (max. 15 --> Error()); if not --> Error()*/   
-    void ShutOff();             /**<  turnes the robot off */
+    void TurnOff();             /**<  turnes the robot off */
     bool WaitUntilButtonPressed();  /**< wait until any button is pressed at the robot */
     bool FrontIsClear();        /**< returns a boolean value true if front is free; if not false */ 
     bool NextToABeeper();       /**< returns a boolean value true if the robot is on a black place or line; if not --> false */