ROCO 104 / Mbed 2 deprecated ROCO104_base_Template

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed motor

main.cpp@6:eac1e6a55274, 2020-04-03 (annotated)

Committer:
james_plym
Date:
Fri Apr 03 15:02:43 2020 +0000
Revision:
6:eac1e6a55274
Parent:
5:756dc04a891c
Child:
7:a96163893291
ROCO104 Version 1

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 //
martinsimpson 0:51c12cc34baf 43 int main ()
martinsimpson 0:51c12cc34baf 44 {
james_plym 6:eac1e6a55274 45 pc.baud(9600); //BAUD Rate to 9600
james_plym 6:eac1e6a55274 46 pc.printf("ROCO104 Demonstration Robot Buggy Plymouth University 2018/19\n\r");
martinsimpson 0:51c12cc34baf 47
james_plym 6:eac1e6a55274 48 Wheel.Period_in_ms(TIME_PERIOD);//Set frequency of the PWMs
martinsimpson 1:3ca91ad8e927 49
james_plym 6:eac1e6a55274 50 //
james_plym 6:eac1e6a55274 51 //--------------------------- your strategy goes between the two dashed lines ---------------------------------------------
james_plym 6:eac1e6a55274 52 //
martinsimpson 1:3ca91ad8e927 53 Wheel.Stop();
james_plym 6:eac1e6a55274 54
james_plym 6:eac1e6a55274 55 //close_encounter(1); //tune to play Announce start!
martinsimpson 1:3ca91ad8e927 56 //twinkle(1); //see tunes.h for alternatives or make your own!
martinsimpson 1:3ca91ad8e927 57 //jingle_bells(1);
james_plym 6:eac1e6a55274 58 megolavania(1);
james_plym 6:eac1e6a55274 59 while(myButton==0) {
james_plym 6:eac1e6a55274 60 //Wait here for USER Button (Blue) on Nucleo Board (goes to zero when pressed)
martinsimpson 1:3ca91ad8e927 61 led=0; //and flash green LED whilst waiting
martinsimpson 0:51c12cc34baf 62 wait(0.1);
james_plym 6:eac1e6a55274 63 led=1;
martinsimpson 0:51c12cc34baf 64 wait(0.1);
martinsimpson 4:8249fab4d8d3 65 //Test Microswitches with two different tones see tunes.cpp tunes.h or flash (led1 and led2) onboard LEDs
james_plym 6:eac1e6a55274 66
martinsimpson 0:51c12cc34baf 67 }
james_plym 6:eac1e6a55274 68
james_plym 6:eac1e6a55274 69 //Repeat the following forever NB always true!
martinsimpson 4:8249fab4d8d3 70
james_plym 5:756dc04a891c 71 // YOUR LINES OF CODE for your stratagy go between HERE! +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
james_plym 6:eac1e6a55274 72 Wheel.Period_in_ms(2);//Set frequency of the PWMs 500Hz
james_plym 6:eac1e6a55274 73
james_plym 6:eac1e6a55274 74
james_plym 6:eac1e6a55274 75 while (true) {
james_plym 6:eac1e6a55274 76
james_plym 6:eac1e6a55274 77 while(microswitch1 == 0);
james_plym 6:eac1e6a55274 78 {
james_plym 6:eac1e6a55274 79 Wheel.Speed(0.8,0.8);
james_plym 6:eac1e6a55274 80 }
james_plym 6:eac1e6a55274 81
james_plym 5:756dc04a891c 82 Wheel.Stop();
james_plym 6:eac1e6a55274 83
james_plym 6:eac1e6a55274 84 while(microswitch2 == 0)
james_plym 6:eac1e6a55274 85 {
james_plym 6:eac1e6a55274 86 Wheel.Speed(-0.8,-0.8);
james_plym 6:eac1e6a55274 87 }
james_plym 6:eac1e6a55274 88
james_plym 6:eac1e6a55274 89 //turn right
james_plym 6:eac1e6a55274 90 Wheel.Speed(0.8,0.0);
james_plym 6:eac1e6a55274 91 wait(0.5);
james_plym 6:eac1e6a55274 92
james_plym 6:eac1e6a55274 93 //forward
james_plym 6:eac1e6a55274 94 Wheel.Speed(0.8,0.8);
james_plym 6:eac1e6a55274 95 wait(0.5);
james_plym 6:eac1e6a55274 96
james_plym 6:eac1e6a55274 97 //turn left
james_plym 6:eac1e6a55274 98 Wheel.Speed(0.0,0.8);
james_plym 6:eac1e6a55274 99 wait(0.5);
james_plym 6:eac1e6a55274 100
james_plym 6:eac1e6a55274 101
james_plym 5:756dc04a891c 102 }
james_plym 6:eac1e6a55274 103
martinsimpson 4:8249fab4d8d3 104
martinsimpson 4:8249fab4d8d3 105
martinsimpson 0:51c12cc34baf 106
martinsimpson 4:8249fab4d8d3 107 // and HERE! +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
james_plym 6:eac1e6a55274 108 } // go back to start of while loop
james_plym 6:eac1e6a55274 109 //end of int main()
martinsimpson 4:8249fab4d8d3 110
martinsimpson 4:8249fab4d8d3 111
martinsimpson 1:3ca91ad8e927 112
martinsimpson 4:8249fab4d8d3 113 /*
martinsimpson 4:8249fab4d8d3 114 //Consider these lines of code to Accelerate the motors
martinsimpson 4:8249fab4d8d3 115 for (float i=0.5f; i<=1.0f; i+=0.01f) //Accelerate from 50% to 100%
james_plym 6:eac1e6a55274 116 {
martinsimpson 4:8249fab4d8d3 117 Wheel.Speed(i,i);
martinsimpson 4:8249fab4d8d3 118 wait(0.1f);
martinsimpson 4:8249fab4d8d3 119 }
martinsimpson 4:8249fab4d8d3 120 */