Renishaw / Mbed 2 deprecated RenBuggyServoNew

Updated version of RenBuggy Servo that can accept instructions based on time or distance.

Dependencies:   PinDetect mbed

Fork of RenBuggyServo by Renishaw

Car.cpp@2:287a808baad7, 2014-03-10 (annotated)

Committer:
Markatron
Date:
Mon Mar 10 11:53:45 2014 +0000
Revision:
2:287a808baad7
Parent:
1:3e1290de9c8d
Child:
3:01bc89d7ae8e
Added documentation to the library.

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 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 1:3e1290de9c8d 37 }
Markatron 1:3e1290de9c8d 38
Markatron 1:3e1290de9c8d 39 Car::Car(PinName servoPin, PinName motorPin, int countsPerRevolution, float wheelCircumference)
Markatron 1:3e1290de9c8d 40 : m_servo(servoPin), m_motor(motorPin) {
Markatron 1:3e1290de9c8d 41 configureEncoder(countsPerRevolution, wheelCircumference);
Markatron 1:3e1290de9c8d 42 m_speed = 15000;
Markatron 0:d388aed56112 43 }
Markatron 0:d388aed56112 44
Markatron 0:d388aed56112 45 Car::~Car() {
Markatron 0:d388aed56112 46 }
Markatron 0:d388aed56112 47
Markatron 1:3e1290de9c8d 48 void Car::setSpeed(int speed_us) {
Markatron 1:3e1290de9c8d 49 m_speed = speed_us;
Markatron 1:3e1290de9c8d 50 }
Markatron 1:3e1290de9c8d 51
Markatron 0:d388aed56112 52 void Car::forwards(float distance) {
Markatron 1:3e1290de9c8d 53
Markatron 1:3e1290de9c8d 54 int countsForward = (int)(distance * (m_countsPerRevolution / m_wheelCircumference));
Markatron 0:d388aed56112 55
Markatron 1:3e1290de9c8d 56 // Tell encoder to keep reading, and have motor keep going forward
Markatron 1:3e1290de9c8d 57 // until the specified number of counts (countsForward) has been read
Markatron 1:3e1290de9c8d 58 // (e.g. countsForward = 10
Markatron 1:3e1290de9c8d 59 // while(encoderValue <= 10)
Markatron 1:3e1290de9c8d 60 // {
Markatron 1:3e1290de9c8d 61 // m_motor.pulsewidth(m_speed);
Markatron 1:3e1290de9c8d 62 // }
Markatron 1:3e1290de9c8d 63 // stop();
Markatron 0:d388aed56112 64
Markatron 0:d388aed56112 65 }
Markatron 0:d388aed56112 66
Markatron 0:d388aed56112 67 void Car::forwards() {
Markatron 1:3e1290de9c8d 68 m_motor.pulsewidth_us(m_speed);
Markatron 0:d388aed56112 69 }
Markatron 0:d388aed56112 70
Markatron 0:d388aed56112 71 void Car::stop() {
Markatron 0:d388aed56112 72 m_motor.pulsewidth_us(0);
Markatron 0:d388aed56112 73 }
Markatron 0:d388aed56112 74
Markatron 0:d388aed56112 75 void Car::setDirection(int degrees) {
Markatron 0:d388aed56112 76 float angleOffset = m_servoRange * (m_servoDegrees / degrees);
Markatron 0:d388aed56112 77 m_servo.pulsewidth_us(1500 + angleOffset);
Markatron 0:d388aed56112 78 }
Markatron 0:d388aed56112 79
Markatron 0:d388aed56112 80 void Car::configureServo_us(int pulsewidth_us, int period_us, int range, float degrees) {
Markatron 0:d388aed56112 81 m_servo.pulsewidth_us(pulsewidth_us);
Markatron 0:d388aed56112 82 m_servo.period_us(period_us);
Markatron 0:d388aed56112 83 m_servoRange = range;
Markatron 0:d388aed56112 84 m_servoDegrees = degrees;
Markatron 0:d388aed56112 85 }
Markatron 0:d388aed56112 86
Markatron 0:d388aed56112 87 void Car::configureServo_ms(int pulsewidth_ms, int period_ms, int range, float degrees) {
Markatron 0:d388aed56112 88 m_servo.pulsewidth_ms(pulsewidth_ms);
Markatron 0:d388aed56112 89 m_servo.period_ms(period_ms);
Markatron 0:d388aed56112 90 m_servoRange = range;
Markatron 0:d388aed56112 91 m_servoDegrees = degrees;
Markatron 0:d388aed56112 92 }
Markatron 0:d388aed56112 93
Markatron 0:d388aed56112 94 void Car::configureMotor_us(int pulsewidth_us, int period_us) {
Markatron 0:d388aed56112 95 m_motor.pulsewidth_us(pulsewidth_us);
Markatron 0:d388aed56112 96 m_motor.period_us(period_us);
Markatron 0:d388aed56112 97 }
Markatron 0:d388aed56112 98
Markatron 0:d388aed56112 99 void Car::configureMotor_ms(int pulsewidth_ms, int period_ms) {
Markatron 0:d388aed56112 100 m_motor.pulsewidth_ms(pulsewidth_ms);
Markatron 0:d388aed56112 101 m_motor.period_ms(period_ms);
Markatron 0:d388aed56112 102 }
Markatron 0:d388aed56112 103
Markatron 1:3e1290de9c8d 104 void Car::configureEncoder(int countsPerRevolution, float wheelCircumference) {
Markatron 1:3e1290de9c8d 105 m_countsPerRevolution = countsPerRevolution;
Markatron 1:3e1290de9c8d 106 m_wheelCircumference = wheelCircumference;
Markatron 1:3e1290de9c8d 107 }
Markatron 1:3e1290de9c8d 108
Markatron 1:3e1290de9c8d 109 /*
Markatron 0:d388aed56112 110 ** Takes a distance specified by user, and calculates how far will
Markatron 0:d388aed56112 111 ** be travelled in 1 second. It then calculates the time that will
Markatron 0:d388aed56112 112 ** be required to travel the specified distance from this result.
Markatron 0:d388aed56112 113 ** @params distance: The distance that needs to be converted into
Markatron 0:d388aed56112 114 ** a time value.
Markatron 0:d388aed56112 115 */
Markatron 1:3e1290de9c8d 116 /*
Markatron 0:d388aed56112 117 float Car::distanceToTimeConverter(float distance) {
Markatron 0:d388aed56112 118 float singleMovement = sqrt(distance); // sqaure root of distance.
Markatron 0:d388aed56112 119 float time = 1;
Markatron 0:d388aed56112 120
Markatron 0:d388aed56112 121 time = time + (distance / singleMovement);
Markatron 0:d388aed56112 122
Markatron 0:d388aed56112 123 return time;
Markatron 0:d388aed56112 124 }
Markatron 1:3e1290de9c8d 125 */
Markatron 0:d388aed56112 126
Markatron 0:d388aed56112 127 #endif // CAR_C