MRJJ / Mbed 2 deprecated ROCO104_Buggy

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Dependencies:   Movement mbed tunes motor pwm_tone clickers Ultra

main.cpp@12:15272c2ae2ed, 2020-03-17 (annotated)

Committer:
Mikebob
Date:
Tue Mar 17 13:13:57 2020 +0000
Revision:
12:15272c2ae2ed
Parent:
9:1094da23254d
Child:
13:13f14a8a902b
.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
martinsimpson 0:51c12cc34baf 1 /*
martinsimpson 1:3ca91ad8e927 2 Simple Routine for Nucleo Board for ROCO104 Buggy Motor Control and Microswitches
martinsimpson 1:3ca91ad8e927 3 Heavy edit from previous ROCO103PP code
martinsimpson 1:3ca91ad8e927 4 Motor Class can now be instansiated with all four pins needed to control the H Bridge
martinsimpson 1:3ca91ad8e927 5 with a member functions as follows
martinsimpson 1:3ca91ad8e927 6
martinsimpson 1:3ca91ad8e927 7 Motor::Speed(float A, Float B) range -0.1 to +1.0 to give full reverse to full forward for A/B motors
martinsimpson 1:3ca91ad8e927 8 Motor::Stop() STOP
martinsimpson 1:3ca91ad8e927 9 Motor::Fwd(float) Forward but floating point number (range 0.0 to 1.0)
martinsimpson 1:3ca91ad8e927 10 Motor::Rev(float) Reverse but floating point number (range 0.0 to 1.0)
martinsimpson 1:3ca91ad8e927 11
martinsimpson 0:51c12cc34baf 12 Plymouth University
martinsimpson 0:51c12cc34baf 13 M.Simpson 31st October 2016
martinsimpson 1:3ca91ad8e927 14 Edited 03/02/2017
martinsimpson 1:3ca91ad8e927 15 Edited 06/12/2018
martinsimpson 0:51c12cc34baf 16 */
martinsimpson 0:51c12cc34baf 17 #include "mbed.h"
martinsimpson 0:51c12cc34baf 18 #include "motor.h"
jakesmart 9:1094da23254d 19 #include "UltraSonic.h"
martinsimpson 0:51c12cc34baf 20 #include "tunes.h"
Mikebob 5:a0090b8b327b 21 #include "clickers.h"
Mikebob 12:15272c2ae2ed 22 #include "Movement.h"
martinsimpson 0:51c12cc34baf 23 #define TIME_PERIOD 2 //Constant compiler Values here 2 equates to 2ms or 500Hz base Frequency
martinsimpson 0:51c12cc34baf 24 #define DUTY 0.9 //DUTY of 1.0=100%, 0.4=40% etc.,
martinsimpson 0:51c12cc34baf 25
martinsimpson 0:51c12cc34baf 26 DigitalIn microswitch1(D4); //Instance of the DigitalIn class called 'microswitch1'
martinsimpson 0:51c12cc34baf 27 DigitalIn microswitch2(D3); //Instance of the DigitalIn class called 'microswitch2'
Mikebob 7:48bf77d076fc 28 Motor Wheel(D13,D11,D9,D10); //Instance of the Motor Class called 'Wheel' see motor.h and motor.cpp
martinsimpson 0:51c12cc34baf 29 DigitalIn myButton(USER_BUTTON); //USER_BUTTON is the Blue Button on the NUCLEO Board
martinsimpson 1:3ca91ad8e927 30 DigitalOut led(LED3); //LED1 is the Green LED on the NUCLEO board
martinsimpson 0:51c12cc34baf 31 //N.B. The RED LED is the POWER Indicator
martinsimpson 0:51c12cc34baf 32 //and the Multicoloured LED indicates status of the ST-LINK Programming cycle
martinsimpson 0:51c12cc34baf 33
martinsimpson 0:51c12cc34baf 34 Serial pc(USBTX,USBRX); //Instance of the Serial class to enable much faster BAUD rates then standard 9600 i.e. 115200
martinsimpson 0:51c12cc34baf 35 //This is Pseudo RS232 over USB the NUCLEO will appear as a COMx Port see device Manager on PC used
martinsimpson 0:51c12cc34baf 36 //Use PuTTY to monitor check COMx and BAUD rate (115200)
Mikebob 7:48bf77d076fc 37 int mm;
Mikebob 12:15272c2ae2ed 38 int HallState = 0;
jakesmart 9:1094da23254d 39 bool fStopped, rStopped = false;
jakesmart 9:1094da23254d 40 void dist(){
Mikebob 12:15272c2ae2ed 41 ultra_sonic_distance();
jakesmart 9:1094da23254d 42 mm = (int)GetDistance();
Mikebob 7:48bf77d076fc 43 }
martinsimpson 0:51c12cc34baf 44 int main ()
martinsimpson 0:51c12cc34baf 45 {
Mikebob 7:48bf77d076fc 46 pc.baud(9600); //BAUD Rate to 9600
Mikebob 7:48bf77d076fc 47 pc.printf("ROCO104 Demonstration Robot Buggy Plymouth University 2018/19\n\r");
Mikebob 7:48bf77d076fc 48 Wheel.Period_in_ms(TIME_PERIOD);//Set frequency of the PWMs
martinsimpson 1:3ca91ad8e927 49 Wheel.Stop();
martinsimpson 0:51c12cc34baf 50
martinsimpson 1:3ca91ad8e927 51 close_encounter(1); //tune to play Announce start!
martinsimpson 1:3ca91ad8e927 52 //twinkle(1); //see tunes.h for alternatives or make your own!
martinsimpson 1:3ca91ad8e927 53 //jingle_bells(1);
Mikebob 7:48bf77d076fc 54
martinsimpson 1:3ca91ad8e927 55 while(myButton==0)
martinsimpson 1:3ca91ad8e927 56 { //Wait here for USER Button (Blue) on Nucleo Board (goes to zero when pressed)
martinsimpson 1:3ca91ad8e927 57 led=0; //and flash green LED whilst waiting
martinsimpson 0:51c12cc34baf 58 wait(0.1);
martinsimpson 0:51c12cc34baf 59 led=1;
martinsimpson 0:51c12cc34baf 60 wait(0.1);
martinsimpson 4:8249fab4d8d3 61 //Test Microswitches with two different tones see tunes.cpp tunes.h or flash (led1 and led2) onboard LEDs
martinsimpson 0:51c12cc34baf 62 }
Mikebob 5:a0090b8b327b 63 Wheel.Period_in_ms(2);//Set frequency of the PWMs 500Hz
Mikebob 7:48bf77d076fc 64
martinsimpson 1:3ca91ad8e927 65 while(true) //Repeat the following forever NB always true!
martinsimpson 0:51c12cc34baf 66 {
Mikebob 12:15272c2ae2ed 67 Direction();
martinsimpson 4:8249fab4d8d3 68 } // go back to start of while loop
martinsimpson 4:8249fab4d8d3 69 } //end of int main()