ROCO 104 / Mbed 2 deprecated ROCO104_7d5m1

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Dependencies:   mbed motor MUSIC board Travel

main.cpp@8:5373e5ceab2e, 2020-05-08 (annotated)

Committer:
Thawedmind
Date:
Fri May 08 10:26:06 2020 +0000
Revision:
8:5373e5ceab2e
Parent:
7:a96163893291
Child:
9:681280a7a416
added two fwdBack functions (commented out) needs testing by JF

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"
martinsimpson 0:51c12cc34baf 19 #include "tunes.h"
martinsimpson 1:3ca91ad8e927 20
martinsimpson 0:51c12cc34baf 21 #define TIME_PERIOD 2 //Constant compiler Values here 2 equates to 2ms or 500Hz base Frequency
martinsimpson 0:51c12cc34baf 22 #define DUTY 0.9 //DUTY of 1.0=100%, 0.4=40% etc.,
martinsimpson 0:51c12cc34baf 23
martinsimpson 0:51c12cc34baf 24 DigitalIn microswitch1(D4); //Instance of the DigitalIn class called 'microswitch1'
martinsimpson 0:51c12cc34baf 25 DigitalIn microswitch2(D3); //Instance of the DigitalIn class called 'microswitch2'
martinsimpson 0:51c12cc34baf 26
martinsimpson 1:3ca91ad8e927 27 Motor Wheel(D13,D11,D9,D10); //Instance of the Motor Class called 'Wheel' see motor.h and motor.cpp
martinsimpson 0:51c12cc34baf 28
martinsimpson 0:51c12cc34baf 29 DigitalIn myButton(USER_BUTTON); //USER_BUTTON is the Blue Button on the NUCLEO Board
martinsimpson 0:51c12cc34baf 30
martinsimpson 1:3ca91ad8e927 31 DigitalOut led(LED3); //LED1 is the Green LED on the NUCLEO board
james_plym 6:eac1e6a55274 32 //N.B. The RED LED is the POWER Indicator
james_plym 6:eac1e6a55274 33 //and the Multicoloured LED indicates status of the ST-LINK Programming cycle
martinsimpson 0:51c12cc34baf 34
martinsimpson 0:51c12cc34baf 35 Serial pc(USBTX,USBRX); //Instance of the Serial class to enable much faster BAUD rates then standard 9600 i.e. 115200
james_plym 6:eac1e6a55274 36 //This is Pseudo RS232 over USB the NUCLEO will appear as a COMx Port see device Manager on PC used
james_plym 6:eac1e6a55274 37 //Use PuTTY to monitor check COMx and BAUD rate (115200)
martinsimpson 0:51c12cc34baf 38
martinsimpson 0:51c12cc34baf 39
martinsimpson 0:51c12cc34baf 40 //Variable 'duty' for programmer to use to vary speed as required set here to #define compiler constant see above
martinsimpson 0:51c12cc34baf 41 float duty=DUTY;
martinsimpson 0:51c12cc34baf 42 //
james_plym 7:a96163893291 43
james_plym 7:a96163893291 44 void fwdBack(){
james_plym 7:a96163893291 45 int fBOn = 1;
james_plym 7:a96163893291 46 while(fBOn == 1){
james_plym 7:a96163893291 47 Wheel.Speed(0.8,0.8);
james_plym 7:a96163893291 48 if (microswitch1 == 1){
james_plym 7:a96163893291 49 wait(0.2);
james_plym 7:a96163893291 50 Wheel.Speed(-0.8,-0.8);
james_plym 7:a96163893291 51 fBOn = 0;
james_plym 7:a96163893291 52 }
james_plym 7:a96163893291 53 }
james_plym 7:a96163893291 54 }
Thawedmind 8:5373e5ceab2e 55
Thawedmind 8:5373e5ceab2e 56 /*
Thawedmind 8:5373e5ceab2e 57 // This is the fwdBack function with acceleration.
Thawedmind 8:5373e5ceab2e 58 void fwdBack2() {
Thawedmind 8:5373e5ceab2e 59
Thawedmind 8:5373e5ceab2e 60 for (float i = 0.5f; i <= 1; i += 0.01f) //Accelerate from 50% to 100%
Thawedmind 8:5373e5ceab2e 61 {
Thawedmind 8:5373e5ceab2e 62 Wheel.Speed(i, i);
Thawedmind 8:5373e5ceab2e 63 wait(0.1f);
Thawedmind 8:5373e5ceab2e 64 if (microswitch1 == 1) {
Thawedmind 8:5373e5ceab2e 65 wait(0.2);
Thawedmind 8:5373e5ceab2e 66 break;
Thawedmind 8:5373e5ceab2e 67 }
Thawedmind 8:5373e5ceab2e 68 }
Thawedmind 8:5373e5ceab2e 69 if (microswitch1 == 1){
Thawedmind 8:5373e5ceab2e 70 for (float i = 0.5f; i <= 1; i -= 0.01f) //Accelerate from 50% to 100% in reverse!
Thawedmind 8:5373e5ceab2e 71 {
Thawedmind 8:5373e5ceab2e 72 Wheel.Speed(i, i);
Thawedmind 8:5373e5ceab2e 73 wait(0.1f);
Thawedmind 8:5373e5ceab2e 74 if (microswitch2 == 1) {
Thawedmind 8:5373e5ceab2e 75 wait(0.2);
Thawedmind 8:5373e5ceab2e 76 break;
Thawedmind 8:5373e5ceab2e 77 }
Thawedmind 8:5373e5ceab2e 78 }
Thawedmind 8:5373e5ceab2e 79 if (microswitch2 == 1) {
Thawedmind 8:5373e5ceab2e 80 wait(0.2);
Thawedmind 8:5373e5ceab2e 81 wheel.Speed(0.0, 0.0);
Thawedmind 8:5373e5ceab2e 82 }
Thawedmind 8:5373e5ceab2e 83 return 0;
Thawedmind 8:5373e5ceab2e 84 }
Thawedmind 8:5373e5ceab2e 85 */
Thawedmind 8:5373e5ceab2e 86
Thawedmind 8:5373e5ceab2e 87 /*/ //The 3rd version including jaimes toggles and acceleration.
Thawedmind 8:5373e5ceab2e 88 void fwdBack3() {
Thawedmind 8:5373e5ceab2e 89 int fBOn = 1;
Thawedmind 8:5373e5ceab2e 90 while (fBOn == 1) {
Thawedmind 8:5373e5ceab2e 91 for (float i = 0.5f; i <= 1; i += 0.01f) //Accelerate from 50% to 100%
Thawedmind 8:5373e5ceab2e 92 {
Thawedmind 8:5373e5ceab2e 93 Wheel.Speed(i, i);
Thawedmind 8:5373e5ceab2e 94 wait(0.1f);
Thawedmind 8:5373e5ceab2e 95 if (microswitch1 == 1) {
Thawedmind 8:5373e5ceab2e 96 wait(0.2);
Thawedmind 8:5373e5ceab2e 97 break;
Thawedmind 8:5373e5ceab2e 98 }
Thawedmind 8:5373e5ceab2e 99 if (microswitch1 == 1) {
Thawedmind 8:5373e5ceab2e 100 wait(0.2);
Thawedmind 8:5373e5ceab2e 101 for (float i = 0.5f; i <= 1; i -= 0.01f) //Accelerate from 50% to 100% in reverse!
Thawedmind 8:5373e5ceab2e 102 {
Thawedmind 8:5373e5ceab2e 103 Wheel.Speed(i, i);
Thawedmind 8:5373e5ceab2e 104 wait(0.1f);
Thawedmind 8:5373e5ceab2e 105 if (microswitch2 == 1) {
Thawedmind 8:5373e5ceab2e 106 wait(0.2);
Thawedmind 8:5373e5ceab2e 107 break;
Thawedmind 8:5373e5ceab2e 108 }
Thawedmind 8:5373e5ceab2e 109 fBOn = 0;
Thawedmind 8:5373e5ceab2e 110 }
Thawedmind 8:5373e5ceab2e 111 }
Thawedmind 8:5373e5ceab2e 112 }
Thawedmind 8:5373e5ceab2e 113
Thawedmind 8:5373e5ceab2e 114 */
james_plym 7:a96163893291 115
james_plym 7:a96163893291 116 void turn(){
james_plym 7:a96163893291 117 int tOn = 1;
james_plym 7:a96163893291 118 while (tOn == 1){
james_plym 7:a96163893291 119
james_plym 7:a96163893291 120 if (microswitch2 == 1){
james_plym 7:a96163893291 121 wait(0.2);
james_plym 7:a96163893291 122 Wheel.Speed(0.5,0.5);
james_plym 7:a96163893291 123 wait(0.5);
james_plym 7:a96163893291 124 Wheel.Speed(0.0,0.8);
james_plym 7:a96163893291 125 wait(1);
james_plym 7:a96163893291 126 Wheel.Speed(0.8,0.8);
james_plym 7:a96163893291 127 wait(2);
james_plym 7:a96163893291 128 Wheel.Speed(0.8,0.0);
james_plym 7:a96163893291 129 wait(0.5);
james_plym 7:a96163893291 130 tOn = 0;
james_plym 7:a96163893291 131 }
james_plym 7:a96163893291 132 }
james_plym 7:a96163893291 133 }
james_plym 7:a96163893291 134
martinsimpson 0:51c12cc34baf 135 int main ()
martinsimpson 0:51c12cc34baf 136 {
james_plym 6:eac1e6a55274 137 pc.baud(9600); //BAUD Rate to 9600
james_plym 6:eac1e6a55274 138 pc.printf("ROCO104 Demonstration Robot Buggy Plymouth University 2018/19\n\r");
martinsimpson 0:51c12cc34baf 139
james_plym 6:eac1e6a55274 140 Wheel.Period_in_ms(TIME_PERIOD);//Set frequency of the PWMs
martinsimpson 1:3ca91ad8e927 141
james_plym 6:eac1e6a55274 142 //
james_plym 6:eac1e6a55274 143 //--------------------------- your strategy goes between the two dashed lines ---------------------------------------------
james_plym 6:eac1e6a55274 144 //
martinsimpson 1:3ca91ad8e927 145 Wheel.Stop();
james_plym 6:eac1e6a55274 146
james_plym 6:eac1e6a55274 147 //close_encounter(1); //tune to play Announce start!
martinsimpson 1:3ca91ad8e927 148 //twinkle(1); //see tunes.h for alternatives or make your own!
martinsimpson 1:3ca91ad8e927 149 //jingle_bells(1);
james_plym 6:eac1e6a55274 150 megolavania(1);
james_plym 6:eac1e6a55274 151 while(myButton==0) {
james_plym 6:eac1e6a55274 152 //Wait here for USER Button (Blue) on Nucleo Board (goes to zero when pressed)
martinsimpson 1:3ca91ad8e927 153 led=0; //and flash green LED whilst waiting
martinsimpson 0:51c12cc34baf 154 wait(0.1);
james_plym 6:eac1e6a55274 155 led=1;
martinsimpson 0:51c12cc34baf 156 wait(0.1);
martinsimpson 4:8249fab4d8d3 157 //Test Microswitches with two different tones see tunes.cpp tunes.h or flash (led1 and led2) onboard LEDs
james_plym 6:eac1e6a55274 158
martinsimpson 0:51c12cc34baf 159 }
james_plym 6:eac1e6a55274 160
james_plym 6:eac1e6a55274 161 //Repeat the following forever NB always true!
martinsimpson 4:8249fab4d8d3 162
james_plym 5:756dc04a891c 163 // YOUR LINES OF CODE for your stratagy go between HERE! +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
james_plym 6:eac1e6a55274 164 Wheel.Period_in_ms(2);//Set frequency of the PWMs 500Hz
james_plym 6:eac1e6a55274 165
james_plym 7:a96163893291 166 int on = 1;
james_plym 7:a96163893291 167
james_plym 7:a96163893291 168 while(on == 1){
james_plym 7:a96163893291 169 fwdBack();
james_plym 7:a96163893291 170 turn();
james_plym 7:a96163893291 171 }
james_plym 7:a96163893291 172
james_plym 7:a96163893291 173
james_plym 7:a96163893291 174
james_plym 7:a96163893291 175
james_plym 7:a96163893291 176
james_plym 7:a96163893291 177
james_plym 7:a96163893291 178
james_plym 7:a96163893291 179
james_plym 7:a96163893291 180
james_plym 7:a96163893291 181 /* while (true) {
james_plym 6:eac1e6a55274 182
james_plym 6:eac1e6a55274 183 while(microswitch1 == 0);
james_plym 6:eac1e6a55274 184 {
james_plym 6:eac1e6a55274 185 Wheel.Speed(0.8,0.8);
james_plym 6:eac1e6a55274 186 }
james_plym 6:eac1e6a55274 187
james_plym 5:756dc04a891c 188 Wheel.Stop();
james_plym 6:eac1e6a55274 189
james_plym 6:eac1e6a55274 190 while(microswitch2 == 0)
james_plym 6:eac1e6a55274 191 {
james_plym 6:eac1e6a55274 192 Wheel.Speed(-0.8,-0.8);
james_plym 6:eac1e6a55274 193 }
james_plym 6:eac1e6a55274 194
james_plym 6:eac1e6a55274 195 //turn right
james_plym 6:eac1e6a55274 196 Wheel.Speed(0.8,0.0);
james_plym 6:eac1e6a55274 197 wait(0.5);
james_plym 6:eac1e6a55274 198
james_plym 6:eac1e6a55274 199 //forward
james_plym 6:eac1e6a55274 200 Wheel.Speed(0.8,0.8);
james_plym 6:eac1e6a55274 201 wait(0.5);
james_plym 6:eac1e6a55274 202
james_plym 6:eac1e6a55274 203 //turn left
james_plym 6:eac1e6a55274 204 Wheel.Speed(0.0,0.8);
james_plym 6:eac1e6a55274 205 wait(0.5);
james_plym 7:a96163893291 206
james_plym 6:eac1e6a55274 207
james_plym 6:eac1e6a55274 208
james_plym 5:756dc04a891c 209 }
james_plym 6:eac1e6a55274 210
james_plym 7:a96163893291 211 */
james_plym 7:a96163893291 212 }
martinsimpson 0:51c12cc34baf 213
martinsimpson 4:8249fab4d8d3 214 // and HERE! +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
james_plym 7:a96163893291 215 // go back to start of while loop
james_plym 6:eac1e6a55274 216 //end of int main()
martinsimpson 4:8249fab4d8d3 217
martinsimpson 4:8249fab4d8d3 218
martinsimpson 1:3ca91ad8e927 219
martinsimpson 4:8249fab4d8d3 220 /*
martinsimpson 4:8249fab4d8d3 221 //Consider these lines of code to Accelerate the motors
martinsimpson 4:8249fab4d8d3 222 for (float i=0.5f; i<=1.0f; i+=0.01f) //Accelerate from 50% to 100%
james_plym 6:eac1e6a55274 223 {
martinsimpson 4:8249fab4d8d3 224 Wheel.Speed(i,i);
martinsimpson 4:8249fab4d8d3 225 wait(0.1f);
martinsimpson 4:8249fab4d8d3 226 }
martinsimpson 4:8249fab4d8d3 227 */