MRJJ / Movement

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Dependents:   ROCO104_Buggy BuggyDesign

Movement.cpp@2:878b6fd215d7, 2020-03-17 (annotated)

Committer:
Mikebob
Date:
Tue Mar 17 15:22:46 2020 +0000
Revision:
2:878b6fd215d7
Parent:
1:401bcbb58715
Child:
3:bbb2ef5e0f68
Final

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jakesmart 0:0285394cacfa 1 #include "mbed.h"
jakesmart 0:0285394cacfa 2 #include "motor.h"
jakesmart 0:0285394cacfa 3 #include "UltraSonic.h"
jakesmart 0:0285394cacfa 4 #include "clickers.h"
Mikebob 2:878b6fd215d7 5 //These externs allow variables and functiones to be used that in another folder/library
Mikebob 1:401bcbb58715 6 extern bool rStopped, fStopped;
Mikebob 1:401bcbb58715 7 extern Motor Wheel;
Mikebob 1:401bcbb58715 8 extern int HallState;
Mikebob 1:401bcbb58715 9 extern void dist();
Mikebob 1:401bcbb58715 10 extern Serial pc;
Mikebob 2:878b6fd215d7 11 int i = 0;//This variable is used to control an if statement
Mikebob 2:878b6fd215d7 12 int HallState = 0;//This is used to select which case the switch case will fall in to
Mikebob 2:878b6fd215d7 13 void Direction (){//This function will control the movement of the buggy
Mikebob 1:401bcbb58715 14 switch(HallState)
Mikebob 1:401bcbb58715 15 {
Mikebob 1:401bcbb58715 16 case 0:
Mikebob 1:401bcbb58715 17 if(fStopped == false){
Mikebob 2:878b6fd215d7 18 dist();//Get the distance
Mikebob 2:878b6fd215d7 19 if (i<1)//Set the wheel speed only once to save processing
Mikebob 1:401bcbb58715 20 {
Mikebob 2:878b6fd215d7 21 Wheel.Speed(0.65,0.65);//forward 65%
Mikebob 1:401bcbb58715 22 pc.printf("Do this once\n\r");
Mikebob 1:401bcbb58715 23 i++;
Mikebob 1:401bcbb58715 24 }
Mikebob 2:878b6fd215d7 25 FwdStop();//Check if the buggy has been told to stop
Mikebob 1:401bcbb58715 26 }
Mikebob 2:878b6fd215d7 27 else if (fStopped == true)//If the buggy has been stopped,change state
Mikebob 2:878b6fd215d7 28 HallState = 1;//Cange state
Mikebob 1:401bcbb58715 29 break;
Mikebob 1:401bcbb58715 30 case 1:
Mikebob 2:878b6fd215d7 31 if(fStopped == true && rStopped == false){//Make the go backwards
Mikebob 2:878b6fd215d7 32 Wheel.Speed(-0.65,-0.65);//backward 65%
Mikebob 2:878b6fd215d7 33 RevStop();//Check if the buggy has benn told to stop going backwards
Mikebob 2:878b6fd215d7 34 dist();//Check distance
Mikebob 1:401bcbb58715 35 }
Mikebob 2:878b6fd215d7 36 else if(fStopped == true && rStopped == true)//If the buggy has been stopped,change state
Mikebob 2:878b6fd215d7 37 HallState = 2;//Cange state
Mikebob 1:401bcbb58715 38 break;
Mikebob 1:401bcbb58715 39 case 2:
Mikebob 2:878b6fd215d7 40 Wheel.Speed(0.65,0.65);//forward 65%
Mikebob 2:878b6fd215d7 41 wait_ms(250);
Mikebob 2:878b6fd215d7 42 Wheel.Speed(0.65,-0.65);//Right 65%
Mikebob 1:401bcbb58715 43 wait_ms(500);
Mikebob 2:878b6fd215d7 44 Wheel.Speed(0.65,0.65);//forward 65%
Mikebob 1:401bcbb58715 45 wait_ms(500);
Mikebob 2:878b6fd215d7 46 Wheel.Speed(-0.65,0.65);//Left 65%
Mikebob 2:878b6fd215d7 47 wait_ms(500);
Mikebob 2:878b6fd215d7 48 Wheel.Stop();//Stop wheels
Mikebob 2:878b6fd215d7 49 HallState = 3;//Change state
Mikebob 1:401bcbb58715 50 break;
Mikebob 1:401bcbb58715 51 case 3:
Mikebob 1:401bcbb58715 52 {
Mikebob 2:878b6fd215d7 53 Wheel.Speed(-0.65,-0.65);//backward 65%
Mikebob 2:878b6fd215d7 54 RevStop();//Check if the buggy has benn told to stop going backwards
Mikebob 2:878b6fd215d7 55 dist();//Check distance
Mikebob 2:878b6fd215d7 56 HallState = 4;//Change state
Mikebob 1:401bcbb58715 57 }
Mikebob 2:878b6fd215d7 58 case 4:
Mikebob 2:878b6fd215d7 59 //Reset all variables back to what they were at the beginnig so the code can restart
Mikebob 2:878b6fd215d7 60 i = 0;
Mikebob 2:878b6fd215d7 61 rStopped = false;
Mikebob 2:878b6fd215d7 62 fStopped = false;
Mikebob 2:878b6fd215d7 63 HallState = 0;
Mikebob 1:401bcbb58715 64 }
jakesmart 0:0285394cacfa 65 }