Collections of BERTL libraries
class_hardware.cpp
- Committer:
- DongExpander
- Date:
- 2016-04-18
- Revision:
- 0:46115ad78747
- Child:
- 2:4a9ed5ca8a9a
File content as of revision 0:46115ad78747:
#include "mbed.h" #include "class_hardware.h" Motor::Motor(PinName pin_pwm, PinName pin_fwd, PinName pin_rev) : pwm(pin_pwm), fwd(pin_fwd), rev(pin_rev) { pwm=0; pwm.period(0.001); fwd=0; rev=0; } void Motor::stop() { pwm=0; fwd=0; rev=0; } void Motor::stop(bool powered) { pwm=0; if ( powered ) { fwd=1; rev=1; } else { fwd=0; rev=0; } } void Motor::set(int speed) { if ( speed > 0 ) { pwm=( (float)(speed) / 100 ); fwd=1; rev=0; } else if ( speed < 0 ) { pwm=( (float)(speed) / -100 ); fwd=0; rev=1; } else { pwm=0; fwd=0; rev=0; } } IRSensor::IRSensor(PinName pin_ir) : ir(pin_ir) { threshold = 500; } IRSensor::IRSensor(PinName pin_ir, int threshold_black) : ir(pin_ir) { threshold = threshold_black; } bool IRSensor::is_black() { if ( ir.read_u16()>>6 > threshold ) return true; return false; } int IRSensor::get_data() { return ( ir.read_u16()>>6 ); } USSensor::USSensor(PinName pin_trigger, PinName pin_echo) : trigger(pin_trigger),echo(pin_echo) { echo.rise(this, &USSensor::on_rise); echo.fall(this, &USSensor::on_fall); distance = 50; } USSensor::USSensor(PinName pin_trigger, PinName pin_echo, int distance_set_bool) : trigger(pin_trigger),echo(pin_echo) { echo.rise(this, &USSensor::on_rise); echo.fall(this, &USSensor::on_fall); if (distance_set_bool < 4000 && distance_set_bool > 20) distance = distance_set_bool; else distance = 50; } void USSensor::initialize() { ticker.attach(this, &USSensor::measure, 0.06); timer.start(); } void USSensor::measure() { trigger=1; wait_us(10); trigger=0; } void USSensor::on_rise() { timer.reset(); } void USSensor::on_fall() { distance_mm = ( (float)(timer.read_us()) * 1716E-4 ); if ( distance_mm < distance ) in_distance = true; else in_distance = false; }