ROCO 104 / Mbed 2 deprecated ROCO104_7d5m1

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Dependencies:   mbed motor MUSIC board Travel

main.cpp@7:a96163893291, 2020-05-07 (annotated)

Committer:
james_plym
Date:
Thu May 07 16:29:28 2020 +0000
Revision:
7:a96163893291
Parent:
6:eac1e6a55274
Child:
8:5373e5ceab2e
finish product in the basis of time not sensors

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 }
james_plym 7:a96163893291 55
james_plym 7:a96163893291 56 void turn(){
james_plym 7:a96163893291 57 int tOn = 1;
james_plym 7:a96163893291 58 while (tOn == 1){
james_plym 7:a96163893291 59
james_plym 7:a96163893291 60 if (microswitch2 == 1){
james_plym 7:a96163893291 61 wait(0.2);
james_plym 7:a96163893291 62 Wheel.Speed(0.5,0.5);
james_plym 7:a96163893291 63 wait(0.5);
james_plym 7:a96163893291 64 Wheel.Speed(0.0,0.8);
james_plym 7:a96163893291 65 wait(1);
james_plym 7:a96163893291 66 Wheel.Speed(0.8,0.8);
james_plym 7:a96163893291 67 wait(2);
james_plym 7:a96163893291 68 Wheel.Speed(0.8,0.0);
james_plym 7:a96163893291 69 wait(0.5);
james_plym 7:a96163893291 70 tOn = 0;
james_plym 7:a96163893291 71 }
james_plym 7:a96163893291 72 }
james_plym 7:a96163893291 73 }
james_plym 7:a96163893291 74
martinsimpson 0:51c12cc34baf 75 int main ()
martinsimpson 0:51c12cc34baf 76 {
james_plym 6:eac1e6a55274 77 pc.baud(9600); //BAUD Rate to 9600
james_plym 6:eac1e6a55274 78 pc.printf("ROCO104 Demonstration Robot Buggy Plymouth University 2018/19\n\r");
martinsimpson 0:51c12cc34baf 79
james_plym 6:eac1e6a55274 80 Wheel.Period_in_ms(TIME_PERIOD);//Set frequency of the PWMs
martinsimpson 1:3ca91ad8e927 81
james_plym 6:eac1e6a55274 82 //
james_plym 6:eac1e6a55274 83 //--------------------------- your strategy goes between the two dashed lines ---------------------------------------------
james_plym 6:eac1e6a55274 84 //
martinsimpson 1:3ca91ad8e927 85 Wheel.Stop();
james_plym 6:eac1e6a55274 86
james_plym 6:eac1e6a55274 87 //close_encounter(1); //tune to play Announce start!
martinsimpson 1:3ca91ad8e927 88 //twinkle(1); //see tunes.h for alternatives or make your own!
martinsimpson 1:3ca91ad8e927 89 //jingle_bells(1);
james_plym 6:eac1e6a55274 90 megolavania(1);
james_plym 6:eac1e6a55274 91 while(myButton==0) {
james_plym 6:eac1e6a55274 92 //Wait here for USER Button (Blue) on Nucleo Board (goes to zero when pressed)
martinsimpson 1:3ca91ad8e927 93 led=0; //and flash green LED whilst waiting
martinsimpson 0:51c12cc34baf 94 wait(0.1);
james_plym 6:eac1e6a55274 95 led=1;
martinsimpson 0:51c12cc34baf 96 wait(0.1);
martinsimpson 4:8249fab4d8d3 97 //Test Microswitches with two different tones see tunes.cpp tunes.h or flash (led1 and led2) onboard LEDs
james_plym 6:eac1e6a55274 98
martinsimpson 0:51c12cc34baf 99 }
james_plym 6:eac1e6a55274 100
james_plym 6:eac1e6a55274 101 //Repeat the following forever NB always true!
martinsimpson 4:8249fab4d8d3 102
james_plym 5:756dc04a891c 103 // YOUR LINES OF CODE for your stratagy go between HERE! +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
james_plym 6:eac1e6a55274 104 Wheel.Period_in_ms(2);//Set frequency of the PWMs 500Hz
james_plym 6:eac1e6a55274 105
james_plym 7:a96163893291 106 int on = 1;
james_plym 7:a96163893291 107
james_plym 7:a96163893291 108 while(on == 1){
james_plym 7:a96163893291 109 fwdBack();
james_plym 7:a96163893291 110 turn();
james_plym 7:a96163893291 111 }
james_plym 7:a96163893291 112
james_plym 7:a96163893291 113
james_plym 7:a96163893291 114
james_plym 7:a96163893291 115
james_plym 7:a96163893291 116
james_plym 7:a96163893291 117
james_plym 7:a96163893291 118
james_plym 7:a96163893291 119
james_plym 7:a96163893291 120
james_plym 7:a96163893291 121 /* while (true) {
james_plym 6:eac1e6a55274 122
james_plym 6:eac1e6a55274 123 while(microswitch1 == 0);
james_plym 6:eac1e6a55274 124 {
james_plym 6:eac1e6a55274 125 Wheel.Speed(0.8,0.8);
james_plym 6:eac1e6a55274 126 }
james_plym 6:eac1e6a55274 127
james_plym 5:756dc04a891c 128 Wheel.Stop();
james_plym 6:eac1e6a55274 129
james_plym 6:eac1e6a55274 130 while(microswitch2 == 0)
james_plym 6:eac1e6a55274 131 {
james_plym 6:eac1e6a55274 132 Wheel.Speed(-0.8,-0.8);
james_plym 6:eac1e6a55274 133 }
james_plym 6:eac1e6a55274 134
james_plym 6:eac1e6a55274 135 //turn right
james_plym 6:eac1e6a55274 136 Wheel.Speed(0.8,0.0);
james_plym 6:eac1e6a55274 137 wait(0.5);
james_plym 6:eac1e6a55274 138
james_plym 6:eac1e6a55274 139 //forward
james_plym 6:eac1e6a55274 140 Wheel.Speed(0.8,0.8);
james_plym 6:eac1e6a55274 141 wait(0.5);
james_plym 6:eac1e6a55274 142
james_plym 6:eac1e6a55274 143 //turn left
james_plym 6:eac1e6a55274 144 Wheel.Speed(0.0,0.8);
james_plym 6:eac1e6a55274 145 wait(0.5);
james_plym 7:a96163893291 146
james_plym 6:eac1e6a55274 147
james_plym 6:eac1e6a55274 148
james_plym 5:756dc04a891c 149 }
james_plym 6:eac1e6a55274 150
james_plym 7:a96163893291 151 */
james_plym 7:a96163893291 152 }
martinsimpson 0:51c12cc34baf 153
martinsimpson 4:8249fab4d8d3 154 // and HERE! +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
james_plym 7:a96163893291 155 // go back to start of while loop
james_plym 6:eac1e6a55274 156 //end of int main()
martinsimpson 4:8249fab4d8d3 157
martinsimpson 4:8249fab4d8d3 158
martinsimpson 1:3ca91ad8e927 159
martinsimpson 4:8249fab4d8d3 160 /*
martinsimpson 4:8249fab4d8d3 161 //Consider these lines of code to Accelerate the motors
martinsimpson 4:8249fab4d8d3 162 for (float i=0.5f; i<=1.0f; i+=0.01f) //Accelerate from 50% to 100%
james_plym 6:eac1e6a55274 163 {
martinsimpson 4:8249fab4d8d3 164 Wheel.Speed(i,i);
martinsimpson 4:8249fab4d8d3 165 wait(0.1f);
martinsimpson 4:8249fab4d8d3 166 }
martinsimpson 4:8249fab4d8d3 167 */