Psi Swarm Robot / PRRobot

Practical Robotics Modular Robot Library

Dependents:   ModularRobot

robot.cpp@0:8a2dd255c508, 2016-11-26 (annotated)

Committer:
jah128
Date:
Sat Nov 26 17:28:53 2016 +0000
Revision:
0:8a2dd255c508
Child:
1:a6728adaf7e7
Initial commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jah128 0:8a2dd255c508 1 #include "robot.h"
jah128 0:8a2dd255c508 2
jah128 0:8a2dd255c508 3 Timer mbed_uptime;
jah128 0:8a2dd255c508 4 int timer_minute_count;
jah128 0:8a2dd255c508 5 Ticker timer_ticker;
jah128 0:8a2dd255c508 6 volatile char i2c_lock = 0;
jah128 0:8a2dd255c508 7
jah128 0:8a2dd255c508 8 Led led;
jah128 0:8a2dd255c508 9 Sensors sensors;
jah128 0:8a2dd255c508 10 Motors motors;
jah128 0:8a2dd255c508 11 I2C primary_i2c (p9, p10);
jah128 0:8a2dd255c508 12 AnalogIn vin_battery(p17);
jah128 0:8a2dd255c508 13 Serial pc(USBTX,USBRX);
jah128 0:8a2dd255c508 14
jah128 0:8a2dd255c508 15
jah128 0:8a2dd255c508 16 // Public functions
jah128 0:8a2dd255c508 17
jah128 0:8a2dd255c508 18 void Robot::init(){
jah128 0:8a2dd255c508 19
jah128 0:8a2dd255c508 20 //Start the uptime timer
jah128 0:8a2dd255c508 21 timer_minute_count = 0;
jah128 0:8a2dd255c508 22 timer_ticker.attach(this,&Robot::_update_minutes, 300); //Update minutes resets the uptime timer every 5 minutes to prevent stop overruns
jah128 0:8a2dd255c508 23 mbed_uptime.start();
jah128 0:8a2dd255c508 24
jah128 0:8a2dd255c508 25 //Setup the primary i2c bus to 400kHz baud rate
jah128 0:8a2dd255c508 26 primary_i2c.frequency(400000);
jah128 0:8a2dd255c508 27
jah128 0:8a2dd255c508 28 //Send a reset signal to the LED driver
jah128 0:8a2dd255c508 29 pc.printf("Resetting LED driver : ");
jah128 0:8a2dd255c508 30 if(led.reset_led_driver() != 0)pc.printf("FAILED\n");
jah128 0:8a2dd255c508 31 else pc.printf("SUCCESS\n");
jah128 0:8a2dd255c508 32 wait(0.05);
jah128 0:8a2dd255c508 33
jah128 0:8a2dd255c508 34 //Send the initialisation signal to the LED driver
jah128 0:8a2dd255c508 35 pc.printf("Initialising LED driver : ");
jah128 0:8a2dd255c508 36 if(led.init_led_driver() != 0)pc.printf("FAILED\n");
jah128 0:8a2dd255c508 37 else pc.printf("SUCCESS\n");
jah128 0:8a2dd255c508 38
jah128 0:8a2dd255c508 39 wait(0.05);
jah128 0:8a2dd255c508 40
jah128 0:8a2dd255c508 41 //Start the Sharp sensor ticker
jah128 0:8a2dd255c508 42 pc.printf("Starting distance sensor ticker...\n");
jah128 0:8a2dd255c508 43 sensors.start_sensor_ticker();
jah128 0:8a2dd255c508 44
jah128 0:8a2dd255c508 45 wait(0.05);
jah128 0:8a2dd255c508 46
jah128 0:8a2dd255c508 47 //Setup the h-bridge drivers
jah128 0:8a2dd255c508 48 pc.printf("Starting the H-bridge drivers...\n");
jah128 0:8a2dd255c508 49 motors.init();
jah128 0:8a2dd255c508 50 }
jah128 0:8a2dd255c508 51
jah128 0:8a2dd255c508 52 float Robot::get_uptime(void)
jah128 0:8a2dd255c508 53 {
jah128 0:8a2dd255c508 54 return mbed_uptime.read() + (timer_minute_count * 60);
jah128 0:8a2dd255c508 55 }
jah128 0:8a2dd255c508 56
jah128 0:8a2dd255c508 57 float Robot::get_battery_voltage(void)
jah128 0:8a2dd255c508 58 {
jah128 0:8a2dd255c508 59 // Voltage is measured through a 7.5V zener diode followed by a 1:1 potential divider
jah128 0:8a2dd255c508 60
jah128 0:8a2dd255c508 61 float measure_voltage = ZENER_VOLTAGE + (vin_battery.read() * BATTERY_PD_MULTIPLIER);
jah128 0:8a2dd255c508 62 return measure_voltage;
jah128 0:8a2dd255c508 63 }
jah128 0:8a2dd255c508 64
jah128 0:8a2dd255c508 65 // Private functions
jah128 0:8a2dd255c508 66
jah128 0:8a2dd255c508 67 void Robot::_update_minutes()
jah128 0:8a2dd255c508 68 {
jah128 0:8a2dd255c508 69 mbed_uptime.reset();
jah128 0:8a2dd255c508 70 timer_minute_count += 5;
jah128 0:8a2dd255c508 71 }