Diff: buggy_functions.cpp

Revision:

0:23373ebd6d3a

Child:

1:9f6d495cda75

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/buggy_functions.cpp	Thu Apr 21 08:59:08 2016 +0000
@@ -0,0 +1,97 @@
+/*********************************************************
+*buggy_functions.cpp                                     *
+*Author: Elijah Orr & Dan Argust                         *
+*                                                        *
+*A library of functions that can be used to control the  *
+*RenBuggy.                                               *
+*********************************************************/
+
+#ifndef BUGGY_FUNCTIONS_C
+#define BUGGY_FUNCTIONS_C
+
+/* necessary includes */
+#include "mbed.h"
+#include "buggy_functions.h"
+#include "SevenSegmentDisplay.h"
+
+// PwmOut is used to control the motors
+PwmOut Lmotor(LeftMotorPin);
+PwmOut Rmotor(RightMotorPin);
+
+//Lmotor = Rmotor = 0;
+
+//DigitalIn is used as a button
+DigitalIn CurrentButtonState(p7);
+//This bool is used to store the buttons state (pressed/not pressed)
+bool LastButtonState = 0;
+
+//This creates an object called "seg" that controls the seven segment display
+SevenSegmentDisplay seg(0);
+
+/* Functions (listed below) contain the code that runs the buggy.
+These functions can be used in the main.cpp file */
+
+
+extern void hold(float time) //waits for (time) seconds
+{
+    seg.DisplayDigits(0,0); //Displays the digits 0 and 0
+    for (float i = time;i>0;i-=0.01){ //For every hundreth of a second, display the time remaining
+        seg.DisplayDigits((int)i/10,(int)i%10);
+        wait(0.01);
+    }
+}
+
+extern void forward(float time) //moves forward for (time) seconds
+{
+    Lmotor = Rmotor = 1.0; //set the left and right motor to 1.0 (full speed)
+    hold(time); //wait for (time) seconds while the motors are on
+    stop(); //stops the motors
+}
+
+extern void left(float time) //moves left for (time) seconds
+{
+    Rmotor = 1.0; //set the right motor to full speed
+    Lmotor = 0.0; //set the left motor to off
+    hold(time); //waits for (time) seconds
+    stop(); //stops the motors
+}
+
+extern void right(float time) //moves right for (time) seconds
+{
+    Lmotor = 1.0; //set the left motor to full speed
+    Rmotor = 0.0; //set the right motor to off
+    hold(time); //waits for (time) seconds
+    stop(); //stops the motors
+}
+
+extern void stop() //stops the motors
+{
+    Lmotor = Rmotor = 0; //set the speed of each motor to 0
+}
+
+extern void readButton(float time) //checks if the button is pressed for (time) seconds
+{
+    seg.DisplayDigits(0,0); //displays 0 0 on the seven segment display
+    for (float i = time;i>0;i-=0.01) //for each hundreth of a seconds check if the button state goes from low to high (eg. pressed)
+    {
+        if (CurrentButtonState == 1 and LastButtonState == 0){
+            rollDice(); //rolls the dice if the button is pressed
+        }
+        LastButtonState = CurrentButtonState;
+        wait(0.01);
+    }
+}
+
+extern int rollDice() //a function that randomly generates a number and displays it on the seven segment display
+{
+    int tens; //declare two variables, tens and units to store the number to be displayed
+    int units;
+    for (int i = 20;i>0;i--){
+        tens = rand()%9; //generate a random number from 0-9 and store it in "tens"
+        units = rand()%9;
+        seg.DisplayDigits(tens,units); //display the numbers stored in tens and units
+        wait(0.04);
+    }
+    return tens*10+units;
+}
+#endif // BUGGY_FUNCTIONS_C
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