Coursework Buggy / Mbed 2 deprecated Task1

13/10/15, offcentre, task 1

Dependencies:   mbed

main.cpp@0:de18ece84d31, 2015-10-13 (annotated)

Committer:
ABentley
Date:
Tue Oct 13 13:56:35 2015 +0000
Revision:
0:de18ece84d31
13/10/15 task1, slightly off centre

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ABentley 0:de18ece84d31 1 #include "mbed.h"
ABentley 0:de18ece84d31 2
ABentley 0:de18ece84d31 3 #define wheelc 0.1759292
ABentley 0:de18ece84d31 4 //Status LED
ABentley 0:de18ece84d31 5 DigitalOut led(LED1);
ABentley 0:de18ece84d31 6
ABentley 0:de18ece84d31 7 //Motor PWM (speed)
ABentley 0:de18ece84d31 8 PwmOut PWMA(PA_8);
ABentley 0:de18ece84d31 9 PwmOut PWMB(PB_4);
ABentley 0:de18ece84d31 10
ABentley 0:de18ece84d31 11 //Motor Direction
ABentley 0:de18ece84d31 12 DigitalOut DIRA(PA_9);
ABentley 0:de18ece84d31 13 DigitalOut DIRB(PB_10);
ABentley 0:de18ece84d31 14
ABentley 0:de18ece84d31 15 //Hall-Effect Sensor Inputs
ABentley 0:de18ece84d31 16 DigitalIn HEA1(PB_2);
ABentley 0:de18ece84d31 17 DigitalIn HEA2(PB_1);
ABentley 0:de18ece84d31 18 DigitalIn HEB1(PB_15);
ABentley 0:de18ece84d31 19 DigitalIn HEB2(PB_14);
ABentley 0:de18ece84d31 20
ABentley 0:de18ece84d31 21 //On board switch
ABentley 0:de18ece84d31 22 DigitalIn SW1(USER_BUTTON);
ABentley 0:de18ece84d31 23
ABentley 0:de18ece84d31 24 //Use the serial object so we can use higher speeds
ABentley 0:de18ece84d31 25 Serial terminal(USBTX, USBRX);
ABentley 0:de18ece84d31 26
ABentley 0:de18ece84d31 27 //Timer used for measuring speeds
ABentley 0:de18ece84d31 28 Timer timer;
ABentley 0:de18ece84d31 29
ABentley 0:de18ece84d31 30 //Enumerated types
ABentley 0:de18ece84d31 31 enum DIRECTION {FORWARD=0, REVERSE};
ABentley 0:de18ece84d31 32 enum PULSE {NOPULSE=0, PULSE};
ABentley 0:de18ece84d31 33 enum SWITCHSTATE {PRESSED=0, RELEASED};
ABentley 0:de18ece84d31 34
ABentley 0:de18ece84d31 35 //Debug GPIO
ABentley 0:de18ece84d31 36 DigitalOut probe(D10);
ABentley 0:de18ece84d31 37
ABentley 0:de18ece84d31 38 //Duty cycles
ABentley 0:de18ece84d31 39 float dutyA = 1.0f; //100%
ABentley 0:de18ece84d31 40 float dutyB = 1.0f; //100%
ABentley 0:de18ece84d31 41
ABentley 0:de18ece84d31 42 int forward(float distance, int speed)
ABentley 0:de18ece84d31 43 {
ABentley 0:de18ece84d31 44 //Set motor period to 100Hz
ABentley 0:de18ece84d31 45 dutyA = 5;
ABentley 0:de18ece84d31 46 dutyB = 5;
ABentley 0:de18ece84d31 47 PWMA.period_ms(speed);
ABentley 0:de18ece84d31 48 PWMB.period_ms(speed);
ABentley 0:de18ece84d31 49
ABentley 0:de18ece84d31 50 //Set initial motor speed to stop
ABentley 0:de18ece84d31 51 PWMA.write(dutyA); //Set duty cycle (%)
ABentley 0:de18ece84d31 52 PWMB.write(dutyB); //Set duty cycle (%)
ABentley 0:de18ece84d31 53
ABentley 0:de18ece84d31 54
ABentley 0:de18ece84d31 55 }
ABentley 0:de18ece84d31 56
ABentley 0:de18ece84d31 57 int turn(int degrees, bool direction)
ABentley 0:de18ece84d31 58 {
ABentley 0:de18ece84d31 59 //Set motor period to 100Hz
ABentley 0:de18ece84d31 60 dutyA = 10;
ABentley 0:de18ece84d31 61 dutyB = 10;
ABentley 0:de18ece84d31 62 PWMA.period_ms(200);
ABentley 0:de18ece84d31 63 PWMB.period_ms(200);
ABentley 0:de18ece84d31 64
ABentley 0:de18ece84d31 65 //Set initial motor speed to stop
ABentley 0:de18ece84d31 66 PWMA.write(dutyA); //Set duty cycle (%)
ABentley 0:de18ece84d31 67 PWMB.write(dutyB); //Set duty cycle (%)
ABentley 0:de18ece84d31 68 wait(0.67);
ABentley 0:de18ece84d31 69 dutyA = 0;
ABentley 0:de18ece84d31 70 dutyB = 0;
ABentley 0:de18ece84d31 71 PWMA.write(dutyA); //Set duty cycle (%)
ABentley 0:de18ece84d31 72 PWMB.write(dutyB); //Set duty cycle (%)
ABentley 0:de18ece84d31 73 }
ABentley 0:de18ece84d31 74 int main()
ABentley 0:de18ece84d31 75 {
ABentley 0:de18ece84d31 76 //Configure the terminal to high speed
ABentley 0:de18ece84d31 77 terminal.baud(115200);
ABentley 0:de18ece84d31 78
ABentley 0:de18ece84d31 79 //Set initial motor direction
ABentley 0:de18ece84d31 80 DIRA = FORWARD;
ABentley 0:de18ece84d31 81 DIRB = FORWARD;
ABentley 0:de18ece84d31 82
ABentley 0:de18ece84d31 83 //Set initial motor speed to stop
ABentley 0:de18ece84d31 84 PWMA.write(0.0f); //0% duty cycle
ABentley 0:de18ece84d31 85 PWMB.write(0.0f); //0% duty cycle
ABentley 0:de18ece84d31 86 while(1) {
ABentley 0:de18ece84d31 87 while (SW1 == PRESSED) {
ABentley 0:de18ece84d31 88 wait(0.01);
ABentley 0:de18ece84d31 89 while(SW1 == RELEASED) {
ABentley 0:de18ece84d31 90
ABentley 0:de18ece84d31 91 for (int i = 0; i<2; i++) {
ABentley 0:de18ece84d31 92 forward(1,1);
ABentley 0:de18ece84d31 93 wait(3);
ABentley 0:de18ece84d31 94 turn(90,1);
ABentley 0:de18ece84d31 95 forward(1,1);
ABentley 0:de18ece84d31 96 wait(1.5);
ABentley 0:de18ece84d31 97 turn(90,1);
ABentley 0:de18ece84d31 98
ABentley 0:de18ece84d31 99 }
ABentley 0:de18ece84d31 100 wait(0.25);
ABentley 0:de18ece84d31 101
ABentley 0:de18ece84d31 102 DIRA = REVERSE; // victory spin
ABentley 0:de18ece84d31 103 DIRB = REVERSE;
ABentley 0:de18ece84d31 104 turn(360,0);
ABentley 0:de18ece84d31 105 turn(360,0);
ABentley 0:de18ece84d31 106 turn(360,0);
ABentley 0:de18ece84d31 107 turn(360,0);
ABentley 0:de18ece84d31 108
ABentley 0:de18ece84d31 109
ABentley 0:de18ece84d31 110
ABentley 0:de18ece84d31 111 sleep();
ABentley 0:de18ece84d31 112 }
ABentley 0:de18ece84d31 113 }
ABentley 0:de18ece84d31 114 }
ABentley 0:de18ece84d31 115 //Set initial motor speed to stop
ABentley 0:de18ece84d31 116 PWMA.write(0); //Set duty cycle (%)
ABentley 0:de18ece84d31 117 PWMB.write(0); //Set duty cycle (%)
ABentley 0:de18ece84d31 118
ABentley 0:de18ece84d31 119
ABentley 0:de18ece84d31 120
ABentley 0:de18ece84d31 121 }