ROCO 104 / Mbed 2 deprecated ROCO104_7d5m1

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Dependencies:   mbed motor MUSIC board Travel

main.cpp@10:c8b9362f90d5, 2020-05-14 (annotated)

Committer:
james_plym
Date:
Thu May 14 16:41:15 2020 +0000
Revision:
10:c8b9362f90d5
Parent:
9:681280a7a416 
finished

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;
james_plym 7:a96163893291 46
james_plym 10:c8b9362f90d5 47 /*
Thawedmind 8:5373e5ceab2e 48 // This is the fwdBack function with acceleration.
james_plym 9:681280a7a416 49 void fwdBack() {
Thawedmind 8:5373e5ceab2e 50
Thawedmind 8:5373e5ceab2e 51 for (float i = 0.5f; i <= 1; i += 0.01f) //Accelerate from 50% to 100%
Thawedmind 8:5373e5ceab2e 52 {
Thawedmind 8:5373e5ceab2e 53 Wheel.Speed(i, i);
Thawedmind 8:5373e5ceab2e 54 wait(0.1f);
Thawedmind 8:5373e5ceab2e 55 if (microswitch1 == 1) {
Thawedmind 8:5373e5ceab2e 56 wait(0.2);
Thawedmind 8:5373e5ceab2e 57 break;
Thawedmind 8:5373e5ceab2e 58 }
Thawedmind 8:5373e5ceab2e 59 }
Thawedmind 8:5373e5ceab2e 60 if (microswitch1 == 1){
Thawedmind 8:5373e5ceab2e 61 for (float i = 0.5f; i <= 1; i -= 0.01f) //Accelerate from 50% to 100% in reverse!
Thawedmind 8:5373e5ceab2e 62 {
Thawedmind 8:5373e5ceab2e 63 Wheel.Speed(i, i);
Thawedmind 8:5373e5ceab2e 64 wait(0.1f);
Thawedmind 8:5373e5ceab2e 65 if (microswitch2 == 1) {
Thawedmind 8:5373e5ceab2e 66 wait(0.2);
Thawedmind 8:5373e5ceab2e 67 break;
Thawedmind 8:5373e5ceab2e 68 }
Thawedmind 8:5373e5ceab2e 69 }
Thawedmind 8:5373e5ceab2e 70 if (microswitch2 == 1) {
Thawedmind 8:5373e5ceab2e 71 wait(0.2);
james_plym 9:681280a7a416 72 Wheel.Speed(0.0, 0.0);
Thawedmind 8:5373e5ceab2e 73 }
james_plym 9:681280a7a416 74
Thawedmind 8:5373e5ceab2e 75 }
james_plym 9:681280a7a416 76
james_plym 9:681280a7a416 77 */
james_plym 9:681280a7a416 78 /*/ //The 3rd version including james toggles and acceleration.
james_plym 9:681280a7a416 79 void fwdBack() {
Thawedmind 8:5373e5ceab2e 80 int fBOn = 1;
Thawedmind 8:5373e5ceab2e 81 while (fBOn == 1) {
Thawedmind 8:5373e5ceab2e 82 for (float i = 0.5f; i <= 1; i += 0.01f) //Accelerate from 50% to 100%
Thawedmind 8:5373e5ceab2e 83 {
Thawedmind 8:5373e5ceab2e 84 Wheel.Speed(i, i);
Thawedmind 8:5373e5ceab2e 85 wait(0.1f);
Thawedmind 8:5373e5ceab2e 86 if (microswitch1 == 1) {
Thawedmind 8:5373e5ceab2e 87 wait(0.2);
Thawedmind 8:5373e5ceab2e 88 break;
Thawedmind 8:5373e5ceab2e 89 }
Thawedmind 8:5373e5ceab2e 90 if (microswitch1 == 1) {
Thawedmind 8:5373e5ceab2e 91 wait(0.2);
Thawedmind 8:5373e5ceab2e 92 for (float i = 0.5f; i <= 1; i -= 0.01f) //Accelerate from 50% to 100% in reverse!
Thawedmind 8:5373e5ceab2e 93 {
Thawedmind 8:5373e5ceab2e 94 Wheel.Speed(i, i);
Thawedmind 8:5373e5ceab2e 95 wait(0.1f);
Thawedmind 8:5373e5ceab2e 96 if (microswitch2 == 1) {
Thawedmind 8:5373e5ceab2e 97 wait(0.2);
Thawedmind 8:5373e5ceab2e 98 break;
Thawedmind 8:5373e5ceab2e 99 }
Thawedmind 8:5373e5ceab2e 100 fBOn = 0;
Thawedmind 8:5373e5ceab2e 101 }
Thawedmind 8:5373e5ceab2e 102 }
Thawedmind 8:5373e5ceab2e 103 }
Thawedmind 8:5373e5ceab2e 104
Thawedmind 8:5373e5ceab2e 105 */
james_plym 7:a96163893291 106
james_plym 9:681280a7a416 107
james_plym 7:a96163893291 108
martinsimpson 0:51c12cc34baf 109 int main ()
martinsimpson 0:51c12cc34baf 110 {
james_plym 6:eac1e6a55274 111 pc.baud(9600); //BAUD Rate to 9600
james_plym 6:eac1e6a55274 112 pc.printf("ROCO104 Demonstration Robot Buggy Plymouth University 2018/19\n\r");
martinsimpson 0:51c12cc34baf 113
james_plym 6:eac1e6a55274 114 Wheel.Period_in_ms(TIME_PERIOD);//Set frequency of the PWMs
martinsimpson 1:3ca91ad8e927 115
james_plym 6:eac1e6a55274 116 //
james_plym 6:eac1e6a55274 117 //--------------------------- your strategy goes between the two dashed lines ---------------------------------------------
james_plym 6:eac1e6a55274 118 //
martinsimpson 1:3ca91ad8e927 119 Wheel.Stop();
james_plym 6:eac1e6a55274 120
james_plym 6:eac1e6a55274 121 megolavania(1);
james_plym 9:681280a7a416 122
james_plym 9:681280a7a416 123 blueButton();
james_plym 9:681280a7a416 124
james_plym 5:756dc04a891c 125 // YOUR LINES OF CODE for your stratagy go between HERE! +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
james_plym 6:eac1e6a55274 126 Wheel.Period_in_ms(2);//Set frequency of the PWMs 500Hz
james_plym 6:eac1e6a55274 127
james_plym 7:a96163893291 128 int on = 1;
james_plym 7:a96163893291 129
james_plym 7:a96163893291 130 while(on == 1){
james_plym 7:a96163893291 131 fwdBack();
james_plym 7:a96163893291 132 turn();
james_plym 9:681280a7a416 133 }
james_plym 10:c8b9362f90d5 134 }
james_plym 7:a96163893291 135
james_plym 6:eac1e6a55274 136
james_plym 6:eac1e6a55274 137
martinsimpson 0:51c12cc34baf 138
martinsimpson 4:8249fab4d8d3 139 // and HERE! +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
james_plym 7:a96163893291 140 // go back to start of while loop
james_plym 6:eac1e6a55274 141 //end of int main()
martinsimpson 4:8249fab4d8d3 142
martinsimpson 4:8249fab4d8d3 143
martinsimpson 1:3ca91ad8e927 144
martinsimpson 4:8249fab4d8d3 145 /*
martinsimpson 4:8249fab4d8d3 146 //Consider these lines of code to Accelerate the motors
martinsimpson 4:8249fab4d8d3 147 for (float i=0.5f; i<=1.0f; i+=0.01f) //Accelerate from 50% to 100%
james_plym 6:eac1e6a55274 148 {
martinsimpson 4:8249fab4d8d3 149 Wheel.Speed(i,i);
martinsimpson 4:8249fab4d8d3 150 wait(0.1f);
martinsimpson 4:8249fab4d8d3 151 }
martinsimpson 4:8249fab4d8d3 152 */