Coursework Buggy / Mbed 2 deprecated 12_10_15

buggy code as of

Dependencies:   mbed

main.cpp@0:aca11cc796fd, 2015-10-13 (annotated)

Committer:
benparkes
Date:
Tue Oct 13 12:09:44 2015 +0000
Revision:
0:aca11cc796fd
12/10/15

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benparkes 0:aca11cc796fd 1 #include "mbed.h"
benparkes 0:aca11cc796fd 2
benparkes 0:aca11cc796fd 3 #define wheelc 0.1759292
benparkes 0:aca11cc796fd 4 //Status LED
benparkes 0:aca11cc796fd 5 DigitalOut led(LED1);
benparkes 0:aca11cc796fd 6
benparkes 0:aca11cc796fd 7 //Motor PWM (speed)
benparkes 0:aca11cc796fd 8 PwmOut PWMA(PA_8);
benparkes 0:aca11cc796fd 9 PwmOut PWMB(PB_4);
benparkes 0:aca11cc796fd 10
benparkes 0:aca11cc796fd 11 //Motor Direction
benparkes 0:aca11cc796fd 12 DigitalOut DIRA(PA_9);
benparkes 0:aca11cc796fd 13 DigitalOut DIRB(PB_10);
benparkes 0:aca11cc796fd 14
benparkes 0:aca11cc796fd 15 //Hall-Effect Sensor Inputs
benparkes 0:aca11cc796fd 16 DigitalIn HEA1(PB_2);
benparkes 0:aca11cc796fd 17 DigitalIn HEA2(PB_1);
benparkes 0:aca11cc796fd 18 DigitalIn HEB1(PB_15);
benparkes 0:aca11cc796fd 19 DigitalIn HEB2(PB_14);
benparkes 0:aca11cc796fd 20
benparkes 0:aca11cc796fd 21 //On board switch
benparkes 0:aca11cc796fd 22 DigitalIn SW1(USER_BUTTON);
benparkes 0:aca11cc796fd 23
benparkes 0:aca11cc796fd 24 //Use the serial object so we can use higher speeds
benparkes 0:aca11cc796fd 25 Serial terminal(USBTX, USBRX);
benparkes 0:aca11cc796fd 26
benparkes 0:aca11cc796fd 27 //Timer used for measuring speeds
benparkes 0:aca11cc796fd 28 Timer timer;
benparkes 0:aca11cc796fd 29
benparkes 0:aca11cc796fd 30 //Enumerated types
benparkes 0:aca11cc796fd 31 enum DIRECTION {FORWARD=0, REVERSE};
benparkes 0:aca11cc796fd 32 enum PULSE {NOPULSE=0, PULSE};
benparkes 0:aca11cc796fd 33 enum SWITCHSTATE {PRESSED=0, RELEASED};
benparkes 0:aca11cc796fd 34
benparkes 0:aca11cc796fd 35 //Debug GPIO
benparkes 0:aca11cc796fd 36 DigitalOut probe(D10);
benparkes 0:aca11cc796fd 37
benparkes 0:aca11cc796fd 38 //Duty cycles
benparkes 0:aca11cc796fd 39 float dutyA = 1.0f; //100%
benparkes 0:aca11cc796fd 40 float dutyB = 1.0f; //100%
benparkes 0:aca11cc796fd 41
benparkes 0:aca11cc796fd 42 int forward(float distance, int speed)
benparkes 0:aca11cc796fd 43 {
benparkes 0:aca11cc796fd 44 //Set motor period to 100Hz
benparkes 0:aca11cc796fd 45 dutyA = 5;
benparkes 0:aca11cc796fd 46 dutyB = 5;
benparkes 0:aca11cc796fd 47 PWMA.period_ms(speed);
benparkes 0:aca11cc796fd 48 PWMB.period_ms(speed);
benparkes 0:aca11cc796fd 49
benparkes 0:aca11cc796fd 50 //Set initial motor speed to stop
benparkes 0:aca11cc796fd 51 PWMA.write(dutyA); //Set duty cycle (%)
benparkes 0:aca11cc796fd 52 PWMB.write(dutyB); //Set duty cycle (%)
benparkes 0:aca11cc796fd 53
benparkes 0:aca11cc796fd 54
benparkes 0:aca11cc796fd 55 }
benparkes 0:aca11cc796fd 56
benparkes 0:aca11cc796fd 57 int turn(int degrees, bool direction)
benparkes 0:aca11cc796fd 58 {
benparkes 0:aca11cc796fd 59 //Set motor period to 100Hz
benparkes 0:aca11cc796fd 60 dutyA = 10;
benparkes 0:aca11cc796fd 61 dutyB = 10;
benparkes 0:aca11cc796fd 62 PWMA.period_ms(200);
benparkes 0:aca11cc796fd 63 PWMB.period_ms(0);
benparkes 0:aca11cc796fd 64
benparkes 0:aca11cc796fd 65 //Set initial motor speed to stop
benparkes 0:aca11cc796fd 66 PWMA.write(dutyA); //Set duty cycle (%)
benparkes 0:aca11cc796fd 67 PWMB.write(dutyB); //Set duty cycle (%)
benparkes 0:aca11cc796fd 68 wait(0.676);
benparkes 0:aca11cc796fd 69 dutyA = 0;
benparkes 0:aca11cc796fd 70 dutyB = 0;
benparkes 0:aca11cc796fd 71 PWMA.write(dutyA); //Set duty cycle (%)
benparkes 0:aca11cc796fd 72 PWMB.write(dutyB); //Set duty cycle (%)
benparkes 0:aca11cc796fd 73 }
benparkes 0:aca11cc796fd 74 int main()
benparkes 0:aca11cc796fd 75 {
benparkes 0:aca11cc796fd 76 //Configure the terminal to high speed
benparkes 0:aca11cc796fd 77 terminal.baud(115200);
benparkes 0:aca11cc796fd 78
benparkes 0:aca11cc796fd 79 //Set initial motor direction
benparkes 0:aca11cc796fd 80 DIRA = FORWARD;
benparkes 0:aca11cc796fd 81 DIRB = FORWARD;
benparkes 0:aca11cc796fd 82
benparkes 0:aca11cc796fd 83 //Set initial motor speed to stop
benparkes 0:aca11cc796fd 84 PWMA.write(0.0f); //0% duty cycle
benparkes 0:aca11cc796fd 85 PWMB.write(0.0f); //0% duty cycle
benparkes 0:aca11cc796fd 86 while(1) {
benparkes 0:aca11cc796fd 87 while (SW1 == PRESSED) {
benparkes 0:aca11cc796fd 88 wait(0.01);
benparkes 0:aca11cc796fd 89 while(SW1 == RELEASED) {
benparkes 0:aca11cc796fd 90
benparkes 0:aca11cc796fd 91 for (int i = 0; i<2; i++) {
benparkes 0:aca11cc796fd 92 forward(1,1);
benparkes 0:aca11cc796fd 93 wait(1.5);
benparkes 0:aca11cc796fd 94 turn(90,1);
benparkes 0:aca11cc796fd 95 forward(1,1);
benparkes 0:aca11cc796fd 96 wait(0.75);
benparkes 0:aca11cc796fd 97 turn(90,1);
benparkes 0:aca11cc796fd 98
benparkes 0:aca11cc796fd 99 }
benparkes 0:aca11cc796fd 100 sleep();
benparkes 0:aca11cc796fd 101 }
benparkes 0:aca11cc796fd 102 }
benparkes 0:aca11cc796fd 103 }
benparkes 0:aca11cc796fd 104 //Set initial motor speed to stop
benparkes 0:aca11cc796fd 105 PWMA.write(0); //Set duty cycle (%)
benparkes 0:aca11cc796fd 106 PWMB.write(0); //Set duty cycle (%)
benparkes 0:aca11cc796fd 107
benparkes 0:aca11cc796fd 108
benparkes 0:aca11cc796fd 109
benparkes 0:aca11cc796fd 110 }