Renishaw / RenBuggyServo

A Library to drive the RenBuggy_Servo.

Dependencies:   PinDetect

Dependents:  

Fork of RenBuggyServo by Renishaw

Car.cpp@6:5767cb4ed8de, 2014-03-31 (annotated)

Committer:
ELloyd
Date:
Mon Mar 31 12:54:28 2014 +0000
Revision:
6:5767cb4ed8de
Parent:
5:c06b90175a54 
Prevented overriding of functions.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Markatron 0:d388aed56112 1 /*******************************************************************************
Markatron 1:3e1290de9c8d 2 * RenBED Car used to drive RenBuggy with servo, motor and encoder(optional) *
Markatron 0:d388aed56112 3 * Copyright (c) 2014 Mark Jones *
Markatron 0:d388aed56112 4 * *
Markatron 0:d388aed56112 5 * Permission is hereby granted, free of charge, to any person obtaining a copy *
Markatron 0:d388aed56112 6 * of this software and associated documentation files (the "Software"), to deal*
Markatron 0:d388aed56112 7 * in the Software without restriction, including without limitation the rights *
Markatron 0:d388aed56112 8 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell *
Markatron 0:d388aed56112 9 * copies of the Software, and to permit persons to whom the Software is *
Markatron 0:d388aed56112 10 * furnished to do so, subject to the following conditions: *
Markatron 0:d388aed56112 11 * *
Markatron 0:d388aed56112 12 * The above copyright notice and this permission notice shall be included in *
Markatron 0:d388aed56112 13 * all copies or substantial portions of the Software. *
Markatron 0:d388aed56112 14 * *
Markatron 0:d388aed56112 15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR *
Markatron 0:d388aed56112 16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, *
Markatron 0:d388aed56112 17 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE *
Markatron 0:d388aed56112 18 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER *
Markatron 0:d388aed56112 19 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,*
Markatron 0:d388aed56112 20 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN *
Markatron 0:d388aed56112 21 * THE SOFTWARE. *
Markatron 0:d388aed56112 22 * *
Markatron 0:d388aed56112 23 * Car.cpp *
Markatron 0:d388aed56112 24 * *
Markatron 5:c06b90175a54 25 * V1.1 31/03/2014 Mark Jones *
Markatron 0:d388aed56112 26 *******************************************************************************/
Markatron 0:d388aed56112 27
Markatron 0:d388aed56112 28 #ifndef CAR_C
Markatron 0:d388aed56112 29 #define CAR_C
Markatron 0:d388aed56112 30
Markatron 0:d388aed56112 31 #include "Car.h"
Markatron 0:d388aed56112 32 #include "mbed.h"
Markatron 0:d388aed56112 33
Markatron 4:aac581bec332 34 const int SERVO_PWM = 1500; // 1500 = centre.
Markatron 4:aac581bec332 35 const int SERVO_PWM_PERIOD = 2000;
Markatron 4:aac581bec332 36 const int SERVO_PWM_RANGE = 500; // + or - 500 microseconds.
Markatron 4:aac581bec332 37 const float SERVO_DEGREES_RANGE = 45.0; // + or - from centre is full right/left.
Markatron 4:aac581bec332 38
Markatron 4:aac581bec332 39 const int MOTOR_PWM = 20000;
Markatron 4:aac581bec332 40 const int MOTOR_PERIOD = 20000;
Markatron 4:aac581bec332 41
Markatron 0:d388aed56112 42 Car::Car(PinName servoPin, PinName motorPin)
Markatron 0:d388aed56112 43 : m_servo(servoPin), m_motor(motorPin) {
Markatron 4:aac581bec332 44
Markatron 1:3e1290de9c8d 45 m_speed = 15000;
Markatron 3:01bc89d7ae8e 46 m_countsPerRevolution = 0;
Markatron 3:01bc89d7ae8e 47 m_wheelCircumference = 0;
Markatron 4:aac581bec332 48
Markatron 4:aac581bec332 49 configureServo_us(SERVO_PWM, SERVO_PWM_PERIOD,
Markatron 4:aac581bec332 50 SERVO_PWM_RANGE, SERVO_DEGREES_RANGE);
Markatron 4:aac581bec332 51
Markatron 4:aac581bec332 52 configureMotor_us(MOTOR_PWM, MOTOR_PERIOD);
Markatron 1:3e1290de9c8d 53 }
Markatron 1:3e1290de9c8d 54
Markatron 3:01bc89d7ae8e 55 Car::Car(PinName servoPin, PinName motorPin, int countsPerRevolution, float wheelCircumference, PinName sensorPin)
Markatron 3:01bc89d7ae8e 56 : m_servo(servoPin), m_motor(motorPin), m_sensor(sensorPin) {
Markatron 1:3e1290de9c8d 57 configureEncoder(countsPerRevolution, wheelCircumference);
Markatron 3:01bc89d7ae8e 58
Markatron 1:3e1290de9c8d 59 m_speed = 15000;
Markatron 3:01bc89d7ae8e 60 setDirection(0);
Markatron 3:01bc89d7ae8e 61
Markatron 4:aac581bec332 62 configureServo_us(SERVO_PWM, SERVO_PWM_PERIOD,
Markatron 4:aac581bec332 63 SERVO_PWM_RANGE, SERVO_DEGREES_RANGE);
Markatron 4:aac581bec332 64
Markatron 4:aac581bec332 65 configureMotor_us(MOTOR_PWM, MOTOR_PERIOD);
Markatron 4:aac581bec332 66
Markatron 3:01bc89d7ae8e 67 m_encoderCount = 0;
Markatron 3:01bc89d7ae8e 68 m_sensor.setSampleFrequency(1000);
Markatron 3:01bc89d7ae8e 69 m_sensor.setSamplesTillHeld(5);
Markatron 3:01bc89d7ae8e 70
Markatron 3:01bc89d7ae8e 71 Car* basePointer = dynamic_cast<Car*>(this);
Markatron 3:01bc89d7ae8e 72 m_sensor.attach_deasserted_held(basePointer, &Car::updateEncoderCount);
Markatron 0:d388aed56112 73 }
Markatron 0:d388aed56112 74
Markatron 0:d388aed56112 75 Car::~Car() {
Markatron 0:d388aed56112 76 }
Markatron 0:d388aed56112 77
Markatron 1:3e1290de9c8d 78 void Car::setSpeed(int speed_us) {
Markatron 1:3e1290de9c8d 79 m_speed = speed_us;
Markatron 1:3e1290de9c8d 80 }
Markatron 1:3e1290de9c8d 81
Markatron 3:01bc89d7ae8e 82 void Car::updateEncoderCount() {
Markatron 3:01bc89d7ae8e 83 m_encoderCount++;
Markatron 3:01bc89d7ae8e 84 }
Markatron 3:01bc89d7ae8e 85
ELloyd 6:5767cb4ed8de 86 void Car::forwards_measured(float distance) {
Markatron 1:3e1290de9c8d 87
Markatron 1:3e1290de9c8d 88 int countsForward = (int)(distance * (m_countsPerRevolution / m_wheelCircumference));
Markatron 0:d388aed56112 89
Markatron 3:01bc89d7ae8e 90 m_encoderCount = 0;
Markatron 3:01bc89d7ae8e 91 bool isMoving = true;
Markatron 3:01bc89d7ae8e 92 m_motor.pulsewidth_us(m_speed);
Markatron 0:d388aed56112 93
Markatron 3:01bc89d7ae8e 94 while(isMoving) {
Markatron 3:01bc89d7ae8e 95 wait(0.2); // <<-- for some unknown reason, this requires a delay to work :-S
Markatron 3:01bc89d7ae8e 96 if(countsForward < m_encoderCount)
Markatron 3:01bc89d7ae8e 97 {
Markatron 3:01bc89d7ae8e 98 isMoving = false;
Markatron 3:01bc89d7ae8e 99 }
Markatron 3:01bc89d7ae8e 100 }
Markatron 3:01bc89d7ae8e 101 // When it's finished, stop the buggy.
Markatron 3:01bc89d7ae8e 102 stop();
Markatron 3:01bc89d7ae8e 103
Markatron 3:01bc89d7ae8e 104 return;
Markatron 0:d388aed56112 105 }
Markatron 0:d388aed56112 106
ELloyd 6:5767cb4ed8de 107 void Car::forwards_timed() {
Markatron 1:3e1290de9c8d 108 m_motor.pulsewidth_us(m_speed);
Markatron 0:d388aed56112 109 }
Markatron 0:d388aed56112 110
Markatron 0:d388aed56112 111 void Car::stop() {
Markatron 0:d388aed56112 112 m_motor.pulsewidth_us(0);
Markatron 0:d388aed56112 113 }
Markatron 0:d388aed56112 114
Markatron 0:d388aed56112 115 void Car::setDirection(int degrees) {
Markatron 0:d388aed56112 116 float angleOffset = m_servoRange * (m_servoDegrees / degrees);
Markatron 0:d388aed56112 117 m_servo.pulsewidth_us(1500 + angleOffset);
Markatron 0:d388aed56112 118 }
Markatron 0:d388aed56112 119
Markatron 0:d388aed56112 120 void Car::configureServo_us(int pulsewidth_us, int period_us, int range, float degrees) {
Markatron 0:d388aed56112 121 m_servo.pulsewidth_us(pulsewidth_us);
Markatron 0:d388aed56112 122 m_servo.period_us(period_us);
Markatron 0:d388aed56112 123 m_servoRange = range;
Markatron 0:d388aed56112 124 m_servoDegrees = degrees;
Markatron 0:d388aed56112 125 }
Markatron 0:d388aed56112 126
Markatron 0:d388aed56112 127 void Car::configureServo_ms(int pulsewidth_ms, int period_ms, int range, float degrees) {
Markatron 0:d388aed56112 128 m_servo.pulsewidth_ms(pulsewidth_ms);
Markatron 0:d388aed56112 129 m_servo.period_ms(period_ms);
Markatron 0:d388aed56112 130 m_servoRange = range;
Markatron 0:d388aed56112 131 m_servoDegrees = degrees;
Markatron 0:d388aed56112 132 }
Markatron 0:d388aed56112 133
Markatron 0:d388aed56112 134 void Car::configureMotor_us(int pulsewidth_us, int period_us) {
Markatron 0:d388aed56112 135 m_motor.pulsewidth_us(pulsewidth_us);
Markatron 0:d388aed56112 136 m_motor.period_us(period_us);
Markatron 0:d388aed56112 137 }
Markatron 0:d388aed56112 138
Markatron 0:d388aed56112 139 void Car::configureMotor_ms(int pulsewidth_ms, int period_ms) {
Markatron 0:d388aed56112 140 m_motor.pulsewidth_ms(pulsewidth_ms);
Markatron 0:d388aed56112 141 m_motor.period_ms(period_ms);
Markatron 0:d388aed56112 142 }
Markatron 0:d388aed56112 143
Markatron 1:3e1290de9c8d 144 void Car::configureEncoder(int countsPerRevolution, float wheelCircumference) {
Markatron 1:3e1290de9c8d 145 m_countsPerRevolution = countsPerRevolution;
Markatron 3:01bc89d7ae8e 146 m_wheelCircumference = wheelCircumference;
Markatron 1:3e1290de9c8d 147 }
Markatron 1:3e1290de9c8d 148
Markatron 0:d388aed56112 149 #endif // CAR_C