Lab 4CHEL
Collections of BERTL libraries
class_hardware.cpp@0:46115ad78747, 2016-04-18 (annotated)
- Committer:
- DongExpander
- Date:
- Mon Apr 18 09:19:10 2016 +0000
- Revision:
- 0:46115ad78747
- Child:
- 2:4a9ed5ca8a9a
Initial Commit
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| DongExpander | 0:46115ad78747 | 1 | #include "mbed.h" |
| DongExpander | 0:46115ad78747 | 2 | #include "class_hardware.h" |
| DongExpander | 0:46115ad78747 | 3 | |
| DongExpander | 0:46115ad78747 | 4 | Motor::Motor(PinName pin_pwm, PinName pin_fwd, PinName pin_rev) : |
| DongExpander | 0:46115ad78747 | 5 | pwm(pin_pwm), fwd(pin_fwd), rev(pin_rev) { |
| DongExpander | 0:46115ad78747 | 6 | pwm=0; |
| DongExpander | 0:46115ad78747 | 7 | pwm.period(0.001); |
| DongExpander | 0:46115ad78747 | 8 | fwd=0; rev=0; |
| DongExpander | 0:46115ad78747 | 9 | } |
| DongExpander | 0:46115ad78747 | 10 | |
| DongExpander | 0:46115ad78747 | 11 | void Motor::stop() { |
| DongExpander | 0:46115ad78747 | 12 | pwm=0; |
| DongExpander | 0:46115ad78747 | 13 | fwd=0; rev=0; |
| DongExpander | 0:46115ad78747 | 14 | } |
| DongExpander | 0:46115ad78747 | 15 | |
| DongExpander | 0:46115ad78747 | 16 | void Motor::stop(bool powered) { |
| DongExpander | 0:46115ad78747 | 17 | pwm=0; |
| DongExpander | 0:46115ad78747 | 18 | if ( powered ) |
| DongExpander | 0:46115ad78747 | 19 | { fwd=1; rev=1; } |
| DongExpander | 0:46115ad78747 | 20 | else |
| DongExpander | 0:46115ad78747 | 21 | { fwd=0; rev=0; } |
| DongExpander | 0:46115ad78747 | 22 | } |
| DongExpander | 0:46115ad78747 | 23 | |
| DongExpander | 0:46115ad78747 | 24 | void Motor::set(int speed) { |
| DongExpander | 0:46115ad78747 | 25 | if ( speed > 0 ) { |
| DongExpander | 0:46115ad78747 | 26 | pwm=( (float)(speed) / 100 ); |
| DongExpander | 0:46115ad78747 | 27 | fwd=1; rev=0; |
| DongExpander | 0:46115ad78747 | 28 | } |
| DongExpander | 0:46115ad78747 | 29 | else if ( speed < 0 ) { |
| DongExpander | 0:46115ad78747 | 30 | pwm=( (float)(speed) / -100 ); |
| DongExpander | 0:46115ad78747 | 31 | fwd=0; rev=1; |
| DongExpander | 0:46115ad78747 | 32 | } |
| DongExpander | 0:46115ad78747 | 33 | else |
| DongExpander | 0:46115ad78747 | 34 | { pwm=0; fwd=0; rev=0; } |
| DongExpander | 0:46115ad78747 | 35 | } |
| DongExpander | 0:46115ad78747 | 36 | |
| DongExpander | 0:46115ad78747 | 37 | IRSensor::IRSensor(PinName pin_ir) : |
| DongExpander | 0:46115ad78747 | 38 | ir(pin_ir) { |
| DongExpander | 0:46115ad78747 | 39 | threshold = 500; |
| DongExpander | 0:46115ad78747 | 40 | } |
| DongExpander | 0:46115ad78747 | 41 | |
| DongExpander | 0:46115ad78747 | 42 | IRSensor::IRSensor(PinName pin_ir, int threshold_black) : |
| DongExpander | 0:46115ad78747 | 43 | ir(pin_ir) { |
| DongExpander | 0:46115ad78747 | 44 | threshold = threshold_black; |
| DongExpander | 0:46115ad78747 | 45 | } |
| DongExpander | 0:46115ad78747 | 46 | |
| DongExpander | 0:46115ad78747 | 47 | bool IRSensor::is_black() { |
| DongExpander | 0:46115ad78747 | 48 | if ( ir.read_u16()>>6 > threshold ) |
| DongExpander | 0:46115ad78747 | 49 | return true; |
| DongExpander | 0:46115ad78747 | 50 | |
| DongExpander | 0:46115ad78747 | 51 | return false; |
| DongExpander | 0:46115ad78747 | 52 | } |
| DongExpander | 0:46115ad78747 | 53 | |
| DongExpander | 0:46115ad78747 | 54 | int IRSensor::get_data() { |
| DongExpander | 0:46115ad78747 | 55 | return ( ir.read_u16()>>6 ); |
| DongExpander | 0:46115ad78747 | 56 | } |
| DongExpander | 0:46115ad78747 | 57 | |
| DongExpander | 0:46115ad78747 | 58 | USSensor::USSensor(PinName pin_trigger, PinName pin_echo) : |
| DongExpander | 0:46115ad78747 | 59 | trigger(pin_trigger),echo(pin_echo) { |
| DongExpander | 0:46115ad78747 | 60 | echo.rise(this, &USSensor::on_rise); |
| DongExpander | 0:46115ad78747 | 61 | echo.fall(this, &USSensor::on_fall); |
| DongExpander | 0:46115ad78747 | 62 | |
| DongExpander | 0:46115ad78747 | 63 | distance = 50; |
| DongExpander | 0:46115ad78747 | 64 | } |
| DongExpander | 0:46115ad78747 | 65 | |
| DongExpander | 0:46115ad78747 | 66 | USSensor::USSensor(PinName pin_trigger, PinName pin_echo, int distance_set_bool) : |
| DongExpander | 0:46115ad78747 | 67 | trigger(pin_trigger),echo(pin_echo) { |
| DongExpander | 0:46115ad78747 | 68 | echo.rise(this, &USSensor::on_rise); |
| DongExpander | 0:46115ad78747 | 69 | echo.fall(this, &USSensor::on_fall); |
| DongExpander | 0:46115ad78747 | 70 | |
| DongExpander | 0:46115ad78747 | 71 | if (distance_set_bool < 4000 && distance_set_bool > 20) |
| DongExpander | 0:46115ad78747 | 72 | distance = distance_set_bool; |
| DongExpander | 0:46115ad78747 | 73 | else |
| DongExpander | 0:46115ad78747 | 74 | distance = 50; |
| DongExpander | 0:46115ad78747 | 75 | } |
| DongExpander | 0:46115ad78747 | 76 | |
| DongExpander | 0:46115ad78747 | 77 | void USSensor::initialize() { |
| DongExpander | 0:46115ad78747 | 78 | ticker.attach(this, &USSensor::measure, 0.06); |
| DongExpander | 0:46115ad78747 | 79 | timer.start(); |
| DongExpander | 0:46115ad78747 | 80 | } |
| DongExpander | 0:46115ad78747 | 81 | |
| DongExpander | 0:46115ad78747 | 82 | void USSensor::measure() { |
| DongExpander | 0:46115ad78747 | 83 | trigger=1; |
| DongExpander | 0:46115ad78747 | 84 | wait_us(10); |
| DongExpander | 0:46115ad78747 | 85 | trigger=0; |
| DongExpander | 0:46115ad78747 | 86 | } |
| DongExpander | 0:46115ad78747 | 87 | |
| DongExpander | 0:46115ad78747 | 88 | void USSensor::on_rise() { |
| DongExpander | 0:46115ad78747 | 89 | timer.reset(); |
| DongExpander | 0:46115ad78747 | 90 | } |
| DongExpander | 0:46115ad78747 | 91 | |
| DongExpander | 0:46115ad78747 | 92 | void USSensor::on_fall() { |
| DongExpander | 0:46115ad78747 | 93 | distance_mm = ( (float)(timer.read_us()) * 1716E-4 ); |
| DongExpander | 0:46115ad78747 | 94 | |
| DongExpander | 0:46115ad78747 | 95 | if ( distance_mm < distance ) |
| DongExpander | 0:46115ad78747 | 96 | in_distance = true; |
| DongExpander | 0:46115ad78747 | 97 | else |
| DongExpander | 0:46115ad78747 | 98 | in_distance = false; |
| DongExpander | 0:46115ad78747 | 99 | } |