main.cpp

00001 /*
00002 Simple Routine for Nucleo Board for ROCO104 Buggy Motor Control and Microswitches
00003 Heavy edit from previous ROCO103PP code
00004 Motor Class can now be instansiated with all four pins needed to control the H Bridge
00005 with a member functions as follows
00006 
00007 Motor::Speed(float A, Float B) range -0.1 to +1.0 to give full reverse to full forward for A/B motors
00008 Motor::Stop()       STOP
00009 Motor::Fwd(float)   Forward but floating point number (range 0.0 to 1.0)
00010 Motor::Rev(float)   Reverse but floating point number (range 0.0 to 1.0)
00011 
00012 Plymouth University
00013 M.Simpson 31st October 2016
00014 Edited 03/02/2017
00015 Edited 06/12/2018
00016 */
00017 #include "mbed.h"
00018 #include "motor.h"
00019 #include "tunes.h"
00020 
00021 #define TIME_PERIOD 2             //Constant compiler Values here 2 equates to 2ms or 500Hz base Frequency
00022 #define DUTY 0.9                  //DUTY of 1.0=100%, 0.4=40% etc.,
00023 
00024 DigitalIn microswitch1(D4);       //Instance of the DigitalIn class called 'microswitch1'
00025 DigitalIn microswitch2(D3);       //Instance of the DigitalIn class called 'microswitch2'
00026 
00027 Motor Wheel(D13,D11,D9,D10);      //Instance of the Motor Class called 'Wheel' see motor.h and motor.cpp
00028 
00029 DigitalIn myButton(USER_BUTTON);  //USER_BUTTON is the Blue Button on the NUCLEO Board
00030 
00031 DigitalOut led(LED3);             //LED1 is the Green LED on the NUCLEO board
00032 //N.B. The RED LED is the POWER Indicator
00033 //and the Multicoloured LED indicates status of the ST-LINK Programming cycle
00034 
00035 Serial pc(USBTX,USBRX);           //Instance of the Serial class to enable much faster BAUD rates then standard 9600 i.e. 115200
00036 //This is Pseudo RS232 over USB the NUCLEO will appear as a COMx Port see device Manager on PC used
00037 //Use PuTTY to monitor check COMx and BAUD rate (115200)
00038 
00039 
00040 //Variable 'duty' for programmer to use to vary speed as required set here to #define compiler constant see above
00041 float duty=DUTY;
00042 //
00043 
00044 void fwdBack(){
00045      int fBOn = 1;
00046      while(fBOn == 1){
00047         Wheel.Speed(0.8,0.8); 
00048         if (microswitch1 == 1){
00049             wait(0.2);
00050             Wheel.Speed(-0.8,-0.8);
00051             fBOn = 0;
00052             }
00053         }
00054     }
00055 
00056 void turn(){
00057     int tOn = 1;
00058     while (tOn == 1){
00059     
00060         if (microswitch2 == 1){
00061             wait(0.2);
00062             Wheel.Speed(0.5,0.5);
00063             wait(0.5);
00064             Wheel.Speed(0.0,0.8);
00065             wait(1);
00066             Wheel.Speed(0.8,0.8);
00067             wait(2);
00068             Wheel.Speed(0.8,0.0);
00069             wait(0.5);
00070             tOn = 0;
00071             }
00072         }
00073     }
00074     
00075 int main ()
00076 {
00077     pc.baud(9600);               //BAUD Rate to 9600
00078     pc.printf("ROCO104 Demonstration Robot Buggy Plymouth University 2018/19\n\r");
00079 
00080     Wheel.Period_in_ms(TIME_PERIOD);//Set frequency of the PWMs
00081 
00082     //
00083     //--------------------------- your strategy goes between the two dashed lines ---------------------------------------------
00084     //
00085     Wheel.Stop();
00086 
00087     //close_encounter(1);     //tune to play Announce start!
00088     //twinkle(1);           //see tunes.h for alternatives or make your own!
00089     //jingle_bells(1);
00090     megolavania(1);
00091     while(myButton==0) {
00092         //Wait here for USER Button (Blue) on Nucleo Board (goes to zero when pressed)
00093         led=0;              //and flash green LED whilst waiting
00094         wait(0.1);
00095         led=1;
00096         wait(0.1);
00097         //Test Microswitches with two different tones see tunes.cpp tunes.h or flash (led1 and led2) onboard LEDs
00098 
00099     }
00100 
00101     //Repeat the following forever NB always true!
00102 
00103 // YOUR LINES OF CODE for your stratagy go between HERE! +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00104     Wheel.Period_in_ms(2);//Set frequency of the PWMs 500Hz
00105     
00106     int on = 1;
00107     
00108     while(on == 1){
00109         fwdBack();
00110         turn();
00111         }
00112         
00113     
00114     
00115     
00116     
00117     
00118     
00119     
00120     
00121    /* while (true) {
00122         
00123         while(microswitch1 == 0);
00124         {
00125             Wheel.Speed(0.8,0.8);
00126         }
00127 
00128         Wheel.Stop();
00129 
00130         while(microswitch2 == 0)
00131         {
00132             Wheel.Speed(-0.8,-0.8);
00133         }
00134 
00135         //turn right
00136         Wheel.Speed(0.8,0.0);
00137         wait(0.5);
00138 
00139         //forward
00140         Wheel.Speed(0.8,0.8);
00141         wait(0.5);
00142 
00143         //turn left
00144         Wheel.Speed(0.0,0.8);
00145         wait(0.5);
00146         
00147 
00148 
00149     }
00150     
00151 */
00152 }
00153 
00154 // and HERE! +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00155 // go back to start of while loop
00156 //end of int main()
00157 
00158 
00159 
00160 /*
00161 //Consider these lines of code to Accelerate the motors
00162       for (float i=0.5f; i<=1.0f; i+=0.01f) //Accelerate  from 50% to 100%
00163       {
00164         Wheel.Speed(i,i);
00165         wait(0.1f);
00166       }
00167 */