CreaLab / Mbed 2 deprecated CreaBot

Remove Warning from Servo lib in AsyncServo lib : Single-precision operand implicitly converted to double-precision

Dependencies:   CREALIB CreaBotLib X_NUCLEO_6180XA1 mbed

main.cpp@1:e3a7f5c1d266, 2017-08-18 (annotated)

Committer:
Gibb
Date:
Fri Aug 18 12:36:17 2017 +0000
Revision:
1:e3a7f5c1d266
Parent:
0:e655b0bc47b2 
Remove Warning from Servo Lib in AsyncServo lib from Crealib: Single-precision operand implicitly converted to double-precision

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gibb 0:e655b0bc47b2 1 #include <Crealab.h>
Gibb 0:e655b0bc47b2 2 #include <CreaBot.h>
Gibb 0:e655b0bc47b2 3 #include <XNucleo6180XA1.h>
Gibb 0:e655b0bc47b2 4
Gibb 0:e655b0bc47b2 5 Serial pc_uart(PA_2, PA_15,115200); // PC Term
Gibb 0:e655b0bc47b2 6 Serial bt_uart(PA_9, PA_10); // BlueTooth
Gibb 0:e655b0bc47b2 7
Gibb 0:e655b0bc47b2 8 // --- Define the Four PINs & Time of movement used for Motor drive -----
Gibb 0:e655b0bc47b2 9 Motor motorLeft (D2, D3, D4, D5); // Declare first the 2 motors (to avoid to have an object with 8 pins to create)
Gibb 0:e655b0bc47b2 10 Motor motorRight (D6, D7, D8, D9);
Gibb 0:e655b0bc47b2 11 Creabot mybot(&motorLeft, &motorRight, 10.0f,13.0f); // insert the motors and indicate wheel diameter and distance between wheels
Gibb 0:e655b0bc47b2 12
Gibb 0:e655b0bc47b2 13 // ----------- PIN Definitions 6180 -------------
Gibb 0:e655b0bc47b2 14 #define VL6180X_I2C_SDA D14
Gibb 0:e655b0bc47b2 15 #define VL6180X_I2C_SCL D15
Gibb 0:e655b0bc47b2 16 static XNucleo6180XA1 *board = NULL;
Gibb 0:e655b0bc47b2 17
Gibb 0:e655b0bc47b2 18
Gibb 0:e655b0bc47b2 19 int main() {
Gibb 0:e655b0bc47b2 20
Gibb 0:e655b0bc47b2 21
Gibb 0:e655b0bc47b2 22 /* Init 6180 X-Nucleo */
Gibb 0:e655b0bc47b2 23 int status;
Gibb 0:e655b0bc47b2 24 uint32_t dist;
Gibb 0:e655b0bc47b2 25 DevI2C *device_i2c = new DevI2C(VL6180X_I2C_SDA, VL6180X_I2C_SCL);
Gibb 0:e655b0bc47b2 26 board = XNucleo6180XA1::instance(device_i2c, A5, A4, D13, D4);
Gibb 0:e655b0bc47b2 27 status = board->init_board();
Gibb 0:e655b0bc47b2 28 if (status) {
Gibb 0:e655b0bc47b2 29 DEBUG("Failed to init board!\n\r");
Gibb 0:e655b0bc47b2 30 }
Gibb 0:e655b0bc47b2 31 /* -------- */
Gibb 0:e655b0bc47b2 32
Gibb 0:e655b0bc47b2 33 wait(2); // Some delay
Gibb 0:e655b0bc47b2 34
Gibb 0:e655b0bc47b2 35
Gibb 0:e655b0bc47b2 36 mybot.setSpeed(12.5); // 12.5cm/s
Gibb 0:e655b0bc47b2 37 mybot.move(FORWARD,10); // Go forward of 10cm
Gibb 0:e655b0bc47b2 38 mybot.waitEndMove(); // Wait end of Move
Gibb 0:e655b0bc47b2 39 mybot.move(ROTATE,90); // Start rotation of 90° around the center between wheels (two wheels running in same direction at same speed)
Gibb 0:e655b0bc47b2 40 mybot.move(BACKWARD,40); // Stop immediately the rotation and go backward of 40cm
Gibb 0:e655b0bc47b2 41 mybot.waitEndMove(); // Wait end of Backward
Gibb 0:e655b0bc47b2 42 mybot.moveAndWait(LEFT,60); // Move Left of 60° in circle, center being the left wheel (off). Wait end of move
Gibb 0:e655b0bc47b2 43 mybot.waitEndMove(); // Not needed, as already waited...
Gibb 0:e655b0bc47b2 44 mybot.moveAndWait(RIGHT,45, 33); // Move Right of 45°, center being at 33cm of the right wheel. Right wheel moving slower and on a shorter distance than left one.
Gibb 0:e655b0bc47b2 45 mybot.moveAndWait(ROTATE,90);
Gibb 0:e655b0bc47b2 46 mybot.move(ROTATE,-90); // Opposite direction.
Gibb 0:e655b0bc47b2 47 mybot.waitEndMove(60); // with watchdog => if after 60s the move is not ended, continue the execution
Gibb 0:e655b0bc47b2 48 mybot.stopMove(); // Stop the movement before end...
Gibb 0:e655b0bc47b2 49
Gibb 0:e655b0bc47b2 50 // Same with a fifo of command, opposite to the move, receiving a new command will not stop the current execution, but the bot will store it.
Gibb 0:e655b0bc47b2 51 mybot.fifo(FORWARD,10); // Already starting...
Gibb 0:e655b0bc47b2 52 mybot.fifo(BACKWARD,10); // will wait end of previous command to go
Gibb 0:e655b0bc47b2 53 mybot.fifo(ROTATE,120.0);
Gibb 0:e655b0bc47b2 54 mybot.fifo(LEFT, 30, 120);
Gibb 0:e655b0bc47b2 55 mybot.fifo(RIGHT, 25);
Gibb 0:e655b0bc47b2 56 mybot.waitEndMove(100000); // wait until fifo end... can flush anytime with stopMove...
Gibb 0:e655b0bc47b2 57 mybot.stopMove(); // before end... Flush the fifo and remove all instructions…
Gibb 0:e655b0bc47b2 58
Gibb 0:e655b0bc47b2 59 while(1) {
Gibb 0:e655b0bc47b2 60 };
Gibb 0:e655b0bc47b2 61 }
Gibb 0:e655b0bc47b2 62