Updated version of RenBuggy Servo that can accept instructions based on time or distance.
Fork of RenBuggyServo by
Car.cpp@3:01bc89d7ae8e, 2014-03-13 (annotated)
- Committer:
- Markatron
- Date:
- Thu Mar 13 07:31:10 2014 +0000
- Revision:
- 3:01bc89d7ae8e
- Parent:
- 2:287a808baad7
- Child:
- 4:aac581bec332
Finished adding functionality for the use of an encoder.
Who changed what in which revision?
User | Revision | Line number | New 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 | 0:d388aed56112 | 25 | * V1.0 05/03/2014 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 | 0:d388aed56112 | 34 | Car::Car(PinName servoPin, PinName motorPin) |
Markatron | 0:d388aed56112 | 35 | : m_servo(servoPin), m_motor(motorPin) { |
Markatron | 1:3e1290de9c8d | 36 | m_speed = 15000; |
Markatron | 3:01bc89d7ae8e | 37 | m_countsPerRevolution = 0; |
Markatron | 3:01bc89d7ae8e | 38 | m_wheelCircumference = 0; |
Markatron | 1:3e1290de9c8d | 39 | } |
Markatron | 1:3e1290de9c8d | 40 | |
Markatron | 3:01bc89d7ae8e | 41 | Car::Car(PinName servoPin, PinName motorPin, int countsPerRevolution, float wheelCircumference, PinName sensorPin) |
Markatron | 3:01bc89d7ae8e | 42 | : m_servo(servoPin), m_motor(motorPin), m_sensor(sensorPin) { |
Markatron | 1:3e1290de9c8d | 43 | configureEncoder(countsPerRevolution, wheelCircumference); |
Markatron | 3:01bc89d7ae8e | 44 | |
Markatron | 1:3e1290de9c8d | 45 | m_speed = 15000; |
Markatron | 3:01bc89d7ae8e | 46 | setDirection(0); |
Markatron | 3:01bc89d7ae8e | 47 | |
Markatron | 3:01bc89d7ae8e | 48 | m_encoderCount = 0; |
Markatron | 3:01bc89d7ae8e | 49 | m_sensor.setSampleFrequency(1000); |
Markatron | 3:01bc89d7ae8e | 50 | m_sensor.setSamplesTillHeld(5); |
Markatron | 3:01bc89d7ae8e | 51 | |
Markatron | 3:01bc89d7ae8e | 52 | Car* basePointer = dynamic_cast<Car*>(this); |
Markatron | 3:01bc89d7ae8e | 53 | m_sensor.attach_deasserted_held(basePointer, &Car::updateEncoderCount); |
Markatron | 0:d388aed56112 | 54 | } |
Markatron | 0:d388aed56112 | 55 | |
Markatron | 0:d388aed56112 | 56 | Car::~Car() { |
Markatron | 0:d388aed56112 | 57 | } |
Markatron | 0:d388aed56112 | 58 | |
Markatron | 1:3e1290de9c8d | 59 | void Car::setSpeed(int speed_us) { |
Markatron | 1:3e1290de9c8d | 60 | m_speed = speed_us; |
Markatron | 1:3e1290de9c8d | 61 | } |
Markatron | 1:3e1290de9c8d | 62 | |
Markatron | 3:01bc89d7ae8e | 63 | void Car::updateEncoderCount() { |
Markatron | 3:01bc89d7ae8e | 64 | m_encoderCount++; |
Markatron | 3:01bc89d7ae8e | 65 | } |
Markatron | 3:01bc89d7ae8e | 66 | |
Markatron | 0:d388aed56112 | 67 | void Car::forwards(float distance) { |
Markatron | 1:3e1290de9c8d | 68 | |
Markatron | 1:3e1290de9c8d | 69 | int countsForward = (int)(distance * (m_countsPerRevolution / m_wheelCircumference)); |
Markatron | 0:d388aed56112 | 70 | |
Markatron | 3:01bc89d7ae8e | 71 | m_encoderCount = 0; |
Markatron | 3:01bc89d7ae8e | 72 | bool isMoving = true; |
Markatron | 3:01bc89d7ae8e | 73 | m_motor.pulsewidth_us(m_speed); |
Markatron | 0:d388aed56112 | 74 | |
Markatron | 3:01bc89d7ae8e | 75 | while(isMoving) { |
Markatron | 3:01bc89d7ae8e | 76 | wait(0.2); // <<-- for some unknown reason, this requires a delay to work :-S |
Markatron | 3:01bc89d7ae8e | 77 | if(countsForward < m_encoderCount) |
Markatron | 3:01bc89d7ae8e | 78 | { |
Markatron | 3:01bc89d7ae8e | 79 | isMoving = false; |
Markatron | 3:01bc89d7ae8e | 80 | } |
Markatron | 3:01bc89d7ae8e | 81 | } |
Markatron | 3:01bc89d7ae8e | 82 | // When it's finished, stop the buggy. |
Markatron | 3:01bc89d7ae8e | 83 | stop(); |
Markatron | 3:01bc89d7ae8e | 84 | |
Markatron | 3:01bc89d7ae8e | 85 | return; |
Markatron | 0:d388aed56112 | 86 | } |
Markatron | 0:d388aed56112 | 87 | |
Markatron | 0:d388aed56112 | 88 | void Car::forwards() { |
Markatron | 1:3e1290de9c8d | 89 | m_motor.pulsewidth_us(m_speed); |
Markatron | 0:d388aed56112 | 90 | } |
Markatron | 0:d388aed56112 | 91 | |
Markatron | 0:d388aed56112 | 92 | void Car::stop() { |
Markatron | 0:d388aed56112 | 93 | m_motor.pulsewidth_us(0); |
Markatron | 0:d388aed56112 | 94 | } |
Markatron | 0:d388aed56112 | 95 | |
Markatron | 0:d388aed56112 | 96 | void Car::setDirection(int degrees) { |
Markatron | 0:d388aed56112 | 97 | float angleOffset = m_servoRange * (m_servoDegrees / degrees); |
Markatron | 0:d388aed56112 | 98 | m_servo.pulsewidth_us(1500 + angleOffset); |
Markatron | 0:d388aed56112 | 99 | } |
Markatron | 0:d388aed56112 | 100 | |
Markatron | 0:d388aed56112 | 101 | void Car::configureServo_us(int pulsewidth_us, int period_us, int range, float degrees) { |
Markatron | 0:d388aed56112 | 102 | m_servo.pulsewidth_us(pulsewidth_us); |
Markatron | 0:d388aed56112 | 103 | m_servo.period_us(period_us); |
Markatron | 0:d388aed56112 | 104 | m_servoRange = range; |
Markatron | 0:d388aed56112 | 105 | m_servoDegrees = degrees; |
Markatron | 0:d388aed56112 | 106 | } |
Markatron | 0:d388aed56112 | 107 | |
Markatron | 0:d388aed56112 | 108 | void Car::configureServo_ms(int pulsewidth_ms, int period_ms, int range, float degrees) { |
Markatron | 0:d388aed56112 | 109 | m_servo.pulsewidth_ms(pulsewidth_ms); |
Markatron | 0:d388aed56112 | 110 | m_servo.period_ms(period_ms); |
Markatron | 0:d388aed56112 | 111 | m_servoRange = range; |
Markatron | 0:d388aed56112 | 112 | m_servoDegrees = degrees; |
Markatron | 0:d388aed56112 | 113 | } |
Markatron | 0:d388aed56112 | 114 | |
Markatron | 0:d388aed56112 | 115 | void Car::configureMotor_us(int pulsewidth_us, int period_us) { |
Markatron | 0:d388aed56112 | 116 | m_motor.pulsewidth_us(pulsewidth_us); |
Markatron | 0:d388aed56112 | 117 | m_motor.period_us(period_us); |
Markatron | 0:d388aed56112 | 118 | } |
Markatron | 0:d388aed56112 | 119 | |
Markatron | 0:d388aed56112 | 120 | void Car::configureMotor_ms(int pulsewidth_ms, int period_ms) { |
Markatron | 0:d388aed56112 | 121 | m_motor.pulsewidth_ms(pulsewidth_ms); |
Markatron | 0:d388aed56112 | 122 | m_motor.period_ms(period_ms); |
Markatron | 0:d388aed56112 | 123 | } |
Markatron | 0:d388aed56112 | 124 | |
Markatron | 1:3e1290de9c8d | 125 | void Car::configureEncoder(int countsPerRevolution, float wheelCircumference) { |
Markatron | 1:3e1290de9c8d | 126 | m_countsPerRevolution = countsPerRevolution; |
Markatron | 3:01bc89d7ae8e | 127 | m_wheelCircumference = wheelCircumference; |
Markatron | 1:3e1290de9c8d | 128 | } |
Markatron | 1:3e1290de9c8d | 129 | |
Markatron | 0:d388aed56112 | 130 | #endif // CAR_C |