ROCO 104 / Mbed 2 deprecated ROCO104_7d5m1

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Dependencies:   mbed motor MUSIC board Travel

main.cpp@9:681280a7a416, 2020-05-13 (annotated)

Committer:
james_plym
Date:
Wed May 13 17:09:57 2020 +0000
Revision:
9:681280a7a416
Parent:
8:5373e5ceab2e
Child:
10:c8b9362f90d5
dw

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"
james_plym 9:681280a7a416 20 #include "Travel.h"
james_plym 9:681280a7a416 21 #include "board.h"
martinsimpson 1:3ca91ad8e927 22
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
james_plym 9:681280a7a416 26
james_plym 9:681280a7a416 27
martinsimpson 0:51c12cc34baf 28 DigitalIn microswitch1(D4); //Instance of the DigitalIn class called 'microswitch1'
martinsimpson 0:51c12cc34baf 29 DigitalIn microswitch2(D3); //Instance of the DigitalIn class called 'microswitch2'
martinsimpson 0:51c12cc34baf 30
martinsimpson 1:3ca91ad8e927 31 Motor Wheel(D13,D11,D9,D10); //Instance of the Motor Class called 'Wheel' see motor.h and motor.cpp
martinsimpson 0:51c12cc34baf 32
martinsimpson 0:51c12cc34baf 33 DigitalIn myButton(USER_BUTTON); //USER_BUTTON is the Blue Button on the NUCLEO Board
martinsimpson 0:51c12cc34baf 34
martinsimpson 1:3ca91ad8e927 35 DigitalOut led(LED3); //LED1 is the Green LED on the NUCLEO board
james_plym 6:eac1e6a55274 36 //N.B. The RED LED is the POWER Indicator
james_plym 6:eac1e6a55274 37 //and the Multicoloured LED indicates status of the ST-LINK Programming cycle
martinsimpson 0:51c12cc34baf 38
martinsimpson 0:51c12cc34baf 39 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 40 //This is Pseudo RS232 over USB the NUCLEO will appear as a COMx Port see device Manager on PC used
james_plym 6:eac1e6a55274 41 //Use PuTTY to monitor check COMx and BAUD rate (115200)
martinsimpson 0:51c12cc34baf 42
martinsimpson 0:51c12cc34baf 43
martinsimpson 0:51c12cc34baf 44 //Variable 'duty' for programmer to use to vary speed as required set here to #define compiler constant see above
martinsimpson 0:51c12cc34baf 45 float duty=DUTY;
martinsimpson 0:51c12cc34baf 46 //
james_plym 7:a96163893291 47
james_plym 9:681280a7a416 48
Thawedmind 8:5373e5ceab2e 49
james_plym 9:681280a7a416 50 /*
Thawedmind 8:5373e5ceab2e 51 // This is the fwdBack function with acceleration.
james_plym 9:681280a7a416 52 void fwdBack() {
Thawedmind 8:5373e5ceab2e 53
Thawedmind 8:5373e5ceab2e 54 for (float i = 0.5f; i <= 1; i += 0.01f) //Accelerate from 50% to 100%
Thawedmind 8:5373e5ceab2e 55 {
Thawedmind 8:5373e5ceab2e 56 Wheel.Speed(i, i);
Thawedmind 8:5373e5ceab2e 57 wait(0.1f);
Thawedmind 8:5373e5ceab2e 58 if (microswitch1 == 1) {
Thawedmind 8:5373e5ceab2e 59 wait(0.2);
Thawedmind 8:5373e5ceab2e 60 break;
Thawedmind 8:5373e5ceab2e 61 }
Thawedmind 8:5373e5ceab2e 62 }
Thawedmind 8:5373e5ceab2e 63 if (microswitch1 == 1){
Thawedmind 8:5373e5ceab2e 64 for (float i = 0.5f; i <= 1; i -= 0.01f) //Accelerate from 50% to 100% in reverse!
Thawedmind 8:5373e5ceab2e 65 {
Thawedmind 8:5373e5ceab2e 66 Wheel.Speed(i, i);
Thawedmind 8:5373e5ceab2e 67 wait(0.1f);
Thawedmind 8:5373e5ceab2e 68 if (microswitch2 == 1) {
Thawedmind 8:5373e5ceab2e 69 wait(0.2);
Thawedmind 8:5373e5ceab2e 70 break;
Thawedmind 8:5373e5ceab2e 71 }
Thawedmind 8:5373e5ceab2e 72 }
Thawedmind 8:5373e5ceab2e 73 if (microswitch2 == 1) {
Thawedmind 8:5373e5ceab2e 74 wait(0.2);
james_plym 9:681280a7a416 75 Wheel.Speed(0.0, 0.0);
Thawedmind 8:5373e5ceab2e 76 }
james_plym 9:681280a7a416 77
Thawedmind 8:5373e5ceab2e 78 }
james_plym 9:681280a7a416 79
james_plym 9:681280a7a416 80 */
james_plym 9:681280a7a416 81 /*/ //The 3rd version including james toggles and acceleration.
james_plym 9:681280a7a416 82 void fwdBack() {
Thawedmind 8:5373e5ceab2e 83 int fBOn = 1;
Thawedmind 8:5373e5ceab2e 84 while (fBOn == 1) {
Thawedmind 8:5373e5ceab2e 85 for (float i = 0.5f; i <= 1; i += 0.01f) //Accelerate from 50% to 100%
Thawedmind 8:5373e5ceab2e 86 {
Thawedmind 8:5373e5ceab2e 87 Wheel.Speed(i, i);
Thawedmind 8:5373e5ceab2e 88 wait(0.1f);
Thawedmind 8:5373e5ceab2e 89 if (microswitch1 == 1) {
Thawedmind 8:5373e5ceab2e 90 wait(0.2);
Thawedmind 8:5373e5ceab2e 91 break;
Thawedmind 8:5373e5ceab2e 92 }
Thawedmind 8:5373e5ceab2e 93 if (microswitch1 == 1) {
Thawedmind 8:5373e5ceab2e 94 wait(0.2);
Thawedmind 8:5373e5ceab2e 95 for (float i = 0.5f; i <= 1; i -= 0.01f) //Accelerate from 50% to 100% in reverse!
Thawedmind 8:5373e5ceab2e 96 {
Thawedmind 8:5373e5ceab2e 97 Wheel.Speed(i, i);
Thawedmind 8:5373e5ceab2e 98 wait(0.1f);
Thawedmind 8:5373e5ceab2e 99 if (microswitch2 == 1) {
Thawedmind 8:5373e5ceab2e 100 wait(0.2);
Thawedmind 8:5373e5ceab2e 101 break;
Thawedmind 8:5373e5ceab2e 102 }
Thawedmind 8:5373e5ceab2e 103 fBOn = 0;
Thawedmind 8:5373e5ceab2e 104 }
Thawedmind 8:5373e5ceab2e 105 }
Thawedmind 8:5373e5ceab2e 106 }
Thawedmind 8:5373e5ceab2e 107
Thawedmind 8:5373e5ceab2e 108 */
james_plym 7:a96163893291 109
james_plym 9:681280a7a416 110
james_plym 7:a96163893291 111
martinsimpson 0:51c12cc34baf 112 int main ()
martinsimpson 0:51c12cc34baf 113 {
james_plym 6:eac1e6a55274 114 pc.baud(9600); //BAUD Rate to 9600
james_plym 6:eac1e6a55274 115 pc.printf("ROCO104 Demonstration Robot Buggy Plymouth University 2018/19\n\r");
martinsimpson 0:51c12cc34baf 116
james_plym 6:eac1e6a55274 117 Wheel.Period_in_ms(TIME_PERIOD);//Set frequency of the PWMs
martinsimpson 1:3ca91ad8e927 118
james_plym 6:eac1e6a55274 119 //
james_plym 6:eac1e6a55274 120 //--------------------------- your strategy goes between the two dashed lines ---------------------------------------------
james_plym 6:eac1e6a55274 121 //
martinsimpson 1:3ca91ad8e927 122 Wheel.Stop();
james_plym 6:eac1e6a55274 123
james_plym 6:eac1e6a55274 124 megolavania(1);
james_plym 9:681280a7a416 125
james_plym 9:681280a7a416 126 blueButton();
james_plym 9:681280a7a416 127
james_plym 5:756dc04a891c 128 // YOUR LINES OF CODE for your stratagy go between HERE! +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
james_plym 6:eac1e6a55274 129 Wheel.Period_in_ms(2);//Set frequency of the PWMs 500Hz
james_plym 6:eac1e6a55274 130
james_plym 7:a96163893291 131 int on = 1;
james_plym 7:a96163893291 132
james_plym 7:a96163893291 133 while(on == 1){
james_plym 7:a96163893291 134 fwdBack();
james_plym 7:a96163893291 135 turn();
james_plym 7:a96163893291 136 }
james_plym 9:681280a7a416 137 }
james_plym 7:a96163893291 138
james_plym 6:eac1e6a55274 139
james_plym 6:eac1e6a55274 140
martinsimpson 0:51c12cc34baf 141
martinsimpson 4:8249fab4d8d3 142 // and HERE! +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
james_plym 7:a96163893291 143 // go back to start of while loop
james_plym 6:eac1e6a55274 144 //end of int main()
martinsimpson 4:8249fab4d8d3 145
martinsimpson 4:8249fab4d8d3 146
martinsimpson 1:3ca91ad8e927 147
martinsimpson 4:8249fab4d8d3 148 /*
martinsimpson 4:8249fab4d8d3 149 //Consider these lines of code to Accelerate the motors
martinsimpson 4:8249fab4d8d3 150 for (float i=0.5f; i<=1.0f; i+=0.01f) //Accelerate from 50% to 100%
james_plym 6:eac1e6a55274 151 {
martinsimpson 4:8249fab4d8d3 152 Wheel.Speed(i,i);
martinsimpson 4:8249fab4d8d3 153 wait(0.1f);
martinsimpson 4:8249fab4d8d3 154 }
martinsimpson 4:8249fab4d8d3 155 */