Revision 13:3ce84646fd74, committed 2015-04-27

Comitter:

bulmecisco

Date:

Mon Apr 27 13:13:45 2015 +0000

Parent:

12:cedc088eaf05

Child:

15:43d6a7e6e64a

Commit message:

Bertl version 3.0 updated

Changed in this revision

--- a/config.h	Sun Apr 26 20:04:47 2015 +0000
+++ b/config.h	Mon Apr 27 13:13:45 2015 +0000
@@ -1,6 +1,6 @@
 /*! \file config.h
 \brief A Documented file.
-* name:   config.h    Version: 1.1 \n
+* name:   config.h    Version: 3.0 \n
 * author: PE HTL BULME \n
 * email:  pe@bulme.at \n
 * description:
@@ -16,8 +16,9 @@
 /*! \def DEBUG
 \brief Turns debugging infos off (0) and on (3) which are send to serial pc.uart */
 #define DEBUG 0
-//#define FRONTBUTTON     /**< Error shutoff if Bertl moves against a wall*/
-#define HCSR            /**< if ultrsonic is installed*/
+//#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) */
 
 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 */

--- a/const.h	Sun Apr 26 20:04:47 2015 +0000
+++ b/const.h	Mon Apr 27 13:13:45 2015 +0000
@@ -1,6 +1,6 @@
 /*! \file const.h
 \brief A Documented file.
-* name:   const.h    Version: 2.2 \n
+* name:   const.h    Version: 3.0 \n
 * author: PE HTL BULME \n
 * email:  pe@bulme.at \n
 * description:
@@ -62,6 +62,4 @@
 const int West = 2; 
 const int North = 3;
 const int South = 4;
-
-
 #endif
\ No newline at end of file

--- a/ur_Bertl.cpp	Sun Apr 26 20:04:47 2015 +0000
+++ b/ur_Bertl.cpp	Mon Apr 27 13:13:45 2015 +0000
@@ -1,5 +1,6 @@
 /***********************************
-name:   ur_Bertl.cpp    Version: 2.2
+name:   ur_Bertl.cpp    Version: 3.0
+        class Bertl included
 author: PE HTL BULME
 email:  pe@bulme.at
 WIKI:   https://developer.mbed.org/teams/BERTL_CHEL_18/code/ur_Bertl/
@@ -13,7 +14,7 @@
 #include "ur_Bertl.h"
 
 // Constructor
-ur_Bertl::ur_Bertl() : _interrupt(P1_12)            // left sensor P1_13
+ur_Bertl::ur_Bertl() : _interrupt(MOTORENC)         
 {
     i2c.frequency(40000);                           // I2C init
     char init1[2] = {0x6, 0x00};
@@ -374,7 +375,7 @@
 }
 
 // -------------------- BERTL CLASS -------------------------------------
-void Bertl::MoveBackwards(int move)
+int Bertl::MoveBackwards(int move)
 {
     int count = _count;
     //wait_ms(250);                         // waite until Bertl stops
@@ -393,8 +394,35 @@
     MotorR_EN=MotorL_EN=0;
     if(move == MOVE)
         wait_ms(250);
+    return _count - count;
 }
 // ------------------------- BERT CLASS --------------------------------------
+int Bertl::Move(int 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);
+#else
+
+    while(_count < count+move) {
+        //if(!FrontIsClear())       // more convenient because there are no accidents :-)
+          //  break;
+#ifdef FRONTBUTTON
+        if(frontButtonPressed())
+            error();
+#endif
+        DEBUG_PRINT("count: %d _count: %d", count, _count);
+    }
+#endif
+    MotorR_FORWARD = MotorL_FORWARD = 0;    // both motor off
+    MotorR_EN=MotorL_EN=0;
+    if(move == MOVE)
+        wait_ms(250);
+    return _count - count;
+}
+
 void Bertl::TurnRigth()
 {
     int count = _count;
@@ -475,4 +503,11 @@
     
     detect = linesensor;
     return detect;
-}
\ No newline at end of file
+}
+
+void Bertl::RGBLed(bool red, bool green, bool blue)
+{
+      RGB_blue=!blue;
+      RGB_red=!red;
+      RGB_green=!green;
+}

--- a/ur_Bertl.h	Sun Apr 26 20:04:47 2015 +0000
+++ b/ur_Bertl.h	Mon Apr 27 13:13:45 2015 +0000
@@ -1,5 +1,6 @@
 /***********************************
-name:   ur_Bertl.h      Version: 2.2
+name:   ur_Bertl.h      Version: 3.0
+        class Bertl included
 author: PE HTL BULME
 email:  pe@bulme.at
 WIKI:   https://developer.mbed.org/teams/BERTL_CHEL_18/code/ur_Bertl/
@@ -18,7 +19,8 @@
 #define RIGHTSENSOR P1_13
 /********************************************//**
  name:   ur_Bertl.h \n
- version: 2.2 \n
+ version: 3.0 \n
+   class Bertl included \n
  author:PE HTL BULME \n
  email: pe@bulme.at \n
  WIKI:  https://developer.mbed.org/teams/BERTL_CHEL_18/code/ur_Bertl/wiki/Homepage \n
@@ -167,7 +169,7 @@
 };
 /********************************************//**
  name:   Bertl.h \n
- version: 1.0 \n
+ version: 3.0 \n
  author:PE HTL BULME \n
  email: pe@bulme.at \n
  WIKI:  https://developer.mbed.org/teams/BERTL_CHEL_18/code/ur_Bertl/wiki/Homepage \n
@@ -236,10 +238,12 @@
 protected:
 public:
     //Bertl();                 /**< default constructor; you have to define constants in config.h such as SPEED, DISTANCE or ANGLE*/
-    void MoveBackwards(int move = MOVE);       /**< Robot moves as much back as the constant DISTANCE; if one of the buttons fire --> Error()*/
+    int Move(int move = MOVE);                /**< Robot moves one turn as much as the constant DISTANCE; if one of the buttons fire --> Error()*/      
+    int MoveBackwards(int move = MOVE);       /**< Robot moves as much back as the constant DISTANCE; if one of the buttons fire --> Error()*/
     void TurnRigth();           /**< Robot turns rigth as much as the constant ANGLE*/ 
     void TurnLeftStep(int step=STEPTIME);   /**< Robot turns left for a short time defined in STEPTIME */
     void TurnRigthStep(int step=STEPTIME);  /**< Robot turns rigth for a short time defined in STEPTIME */
     uint8_t GetLineValues();    /**< in the lower 4 bit are the values of the line sensor */
+    void RGBLed(bool red, bool green, bool blue); /**<RGB Led with red, green and blue component of the Color */
 };
 #endif
\ No newline at end of file