Updated version of RenBuggy Servo that can accept instructions based on time or distance.
Fork of RenBuggyServo by
Car.cpp@1:3e1290de9c8d, 2014-03-10 (annotated)
- Committer:
- Markatron
- Date:
- Mon Mar 10 10:15:22 2014 +0000
- Revision:
- 1:3e1290de9c8d
- Parent:
- 0:d388aed56112
- Child:
- 2:287a808baad7
RenBuggy Servo updated library
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 | /* |
Markatron | 0:d388aed56112 | 35 | ** Constructs the car with PwmOut objects for servo and motor. |
Markatron | 0:d388aed56112 | 36 | ** @params servoPin: This is the pin used for pwm output for driving the servo. |
Markatron | 0:d388aed56112 | 37 | ** @params motorPin: This is the pin used for pwm output for driving the motor. |
Markatron | 0:d388aed56112 | 38 | */ |
Markatron | 0:d388aed56112 | 39 | Car::Car(PinName servoPin, PinName motorPin) |
Markatron | 0:d388aed56112 | 40 | : m_servo(servoPin), m_motor(motorPin) { |
Markatron | 1:3e1290de9c8d | 41 | m_speed = 15000; |
Markatron | 1:3e1290de9c8d | 42 | } |
Markatron | 1:3e1290de9c8d | 43 | |
Markatron | 1:3e1290de9c8d | 44 | Car::Car(PinName servoPin, PinName motorPin, int countsPerRevolution, float wheelCircumference) |
Markatron | 1:3e1290de9c8d | 45 | : m_servo(servoPin), m_motor(motorPin) { |
Markatron | 1:3e1290de9c8d | 46 | configureEncoder(countsPerRevolution, wheelCircumference); |
Markatron | 1:3e1290de9c8d | 47 | m_speed = 15000; |
Markatron | 0:d388aed56112 | 48 | } |
Markatron | 0:d388aed56112 | 49 | |
Markatron | 0:d388aed56112 | 50 | /* |
Markatron | 0:d388aed56112 | 51 | ** Deconstructs the car. |
Markatron | 0:d388aed56112 | 52 | */ |
Markatron | 0:d388aed56112 | 53 | Car::~Car() { |
Markatron | 0:d388aed56112 | 54 | } |
Markatron | 0:d388aed56112 | 55 | |
Markatron | 1:3e1290de9c8d | 56 | /* |
Markatron | 1:3e1290de9c8d | 57 | ** |
Markatron | 1:3e1290de9c8d | 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 | 0:d388aed56112 | 63 | /* |
Markatron | 1:3e1290de9c8d | 64 | ** This function is for use in conjuction with |
Markatron | 1:3e1290de9c8d | 65 | ** an encoder, and makes the car move a specified |
Markatron | 1:3e1290de9c8d | 66 | ** distance. |
Markatron | 1:3e1290de9c8d | 67 | ** @params distance: The distance the car should |
Markatron | 1:3e1290de9c8d | 68 | ** move, in cm. |
Markatron | 0:d388aed56112 | 69 | */ |
Markatron | 0:d388aed56112 | 70 | void Car::forwards(float distance) { |
Markatron | 1:3e1290de9c8d | 71 | |
Markatron | 1:3e1290de9c8d | 72 | int countsForward = (int)(distance * (m_countsPerRevolution / m_wheelCircumference)); |
Markatron | 0:d388aed56112 | 73 | |
Markatron | 1:3e1290de9c8d | 74 | // Tell encoder to keep reading, and have motor keep going forward |
Markatron | 1:3e1290de9c8d | 75 | // until the specified number of counts (countsForward) has been read |
Markatron | 1:3e1290de9c8d | 76 | // (e.g. countsForward = 10 |
Markatron | 1:3e1290de9c8d | 77 | // while(encoderValue <= 10) |
Markatron | 1:3e1290de9c8d | 78 | // { |
Markatron | 1:3e1290de9c8d | 79 | // m_motor.pulsewidth(m_speed); |
Markatron | 1:3e1290de9c8d | 80 | // } |
Markatron | 1:3e1290de9c8d | 81 | // stop(); |
Markatron | 0:d388aed56112 | 82 | |
Markatron | 0:d388aed56112 | 83 | } |
Markatron | 0:d388aed56112 | 84 | |
Markatron | 0:d388aed56112 | 85 | /* |
Markatron | 0:d388aed56112 | 86 | ** Start the car moving with a default speed. |
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 | /* |
Markatron | 0:d388aed56112 | 93 | ** Stops the motor. |
Markatron | 0:d388aed56112 | 94 | */ |
Markatron | 0:d388aed56112 | 95 | void Car::stop() { |
Markatron | 0:d388aed56112 | 96 | m_motor.pulsewidth_us(0); |
Markatron | 0:d388aed56112 | 97 | } |
Markatron | 0:d388aed56112 | 98 | |
Markatron | 0:d388aed56112 | 99 | /* |
Markatron | 0:d388aed56112 | 100 | ** Set the direction the car is facing. |
Markatron | 0:d388aed56112 | 101 | ** @params degrees: The degrees of the angle, where -45 is full |
Markatron | 0:d388aed56112 | 102 | ** left, 0 is centre and +45 is full right. |
Markatron | 0:d388aed56112 | 103 | */ |
Markatron | 0:d388aed56112 | 104 | void Car::setDirection(int degrees) { |
Markatron | 0:d388aed56112 | 105 | float angleOffset = m_servoRange * (m_servoDegrees / degrees); |
Markatron | 0:d388aed56112 | 106 | m_servo.pulsewidth_us(1500 + angleOffset); |
Markatron | 0:d388aed56112 | 107 | } |
Markatron | 0:d388aed56112 | 108 | |
Markatron | 0:d388aed56112 | 109 | /* |
Markatron | 0:d388aed56112 | 110 | ** Configures the pulsewidth and perion for the servon, in microseconds. |
Markatron | 0:d388aed56112 | 111 | ** @params pulsewidth_us: The pwm pulsewidth for the servo, in mircoseconds. |
Markatron | 0:d388aed56112 | 112 | ** @params period_ms: The pwm period for the servo, in mircoseconds. |
Markatron | 0:d388aed56112 | 113 | ** @params range: The pulsewidth range to full left/right turn of the servo from centre (1.5ms). |
Markatron | 0:d388aed56112 | 114 | ** @params degrees: The angle to full right/left turn of the servo from centre (0). |
Markatron | 0:d388aed56112 | 115 | */ |
Markatron | 0:d388aed56112 | 116 | void Car::configureServo_us(int pulsewidth_us, int period_us, int range, float degrees) { |
Markatron | 0:d388aed56112 | 117 | m_servo.pulsewidth_us(pulsewidth_us); |
Markatron | 0:d388aed56112 | 118 | m_servo.period_us(period_us); |
Markatron | 0:d388aed56112 | 119 | m_servoRange = range; |
Markatron | 0:d388aed56112 | 120 | m_servoDegrees = degrees; |
Markatron | 0:d388aed56112 | 121 | } |
Markatron | 0:d388aed56112 | 122 | |
Markatron | 0:d388aed56112 | 123 | /* |
Markatron | 0:d388aed56112 | 124 | ** Configures the pulsewidth and period for the servo, in milliseconds. |
Markatron | 0:d388aed56112 | 125 | ** @params pulsewidth_ms: The pwm pulsewidth for the servo, in milliseconds. |
Markatron | 0:d388aed56112 | 126 | ** @params period_ms: The pwm period for the servo, in milliseconds. |
Markatron | 0:d388aed56112 | 127 | ** @params range: The pulsewidth range to full left/right turn of the servo from centre (1.5ms) |
Markatron | 0:d388aed56112 | 128 | ** @params degrees: The angle to full right/left turn of the servo from centre (0). |
Markatron | 0:d388aed56112 | 129 | */ |
Markatron | 0:d388aed56112 | 130 | void Car::configureServo_ms(int pulsewidth_ms, int period_ms, int range, float degrees) { |
Markatron | 0:d388aed56112 | 131 | m_servo.pulsewidth_ms(pulsewidth_ms); |
Markatron | 0:d388aed56112 | 132 | m_servo.period_ms(period_ms); |
Markatron | 0:d388aed56112 | 133 | m_servoRange = range; |
Markatron | 0:d388aed56112 | 134 | m_servoDegrees = degrees; |
Markatron | 0:d388aed56112 | 135 | } |
Markatron | 0:d388aed56112 | 136 | |
Markatron | 0:d388aed56112 | 137 | /* |
Markatron | 0:d388aed56112 | 138 | ** Configures the pulsewidth and period for the motor, in microseconds. |
Markatron | 0:d388aed56112 | 139 | ** @params pulsewidth_us: The pwm pulsewidth for the motor, in mircoseconds. |
Markatron | 0:d388aed56112 | 140 | ** @params period_us: The pwm period for the motor, in microseconds. |
Markatron | 0:d388aed56112 | 141 | */ |
Markatron | 0:d388aed56112 | 142 | void Car::configureMotor_us(int pulsewidth_us, int period_us) { |
Markatron | 0:d388aed56112 | 143 | m_motor.pulsewidth_us(pulsewidth_us); |
Markatron | 0:d388aed56112 | 144 | m_motor.period_us(period_us); |
Markatron | 0:d388aed56112 | 145 | } |
Markatron | 0:d388aed56112 | 146 | |
Markatron | 0:d388aed56112 | 147 | /* |
Markatron | 0:d388aed56112 | 148 | ** Configures the pulsewidth and period for the motor, in milliseconds. |
Markatron | 0:d388aed56112 | 149 | ** @params pulsewidth_ms: The pwm pulsewidth for the motor, in milliseconds. |
Markatron | 0:d388aed56112 | 150 | ** @params period_ms: The pwm period for the motor, in milliseconds. |
Markatron | 0:d388aed56112 | 151 | */ |
Markatron | 0:d388aed56112 | 152 | void Car::configureMotor_ms(int pulsewidth_ms, int period_ms) { |
Markatron | 0:d388aed56112 | 153 | m_motor.pulsewidth_ms(pulsewidth_ms); |
Markatron | 0:d388aed56112 | 154 | m_motor.period_ms(period_ms); |
Markatron | 0:d388aed56112 | 155 | } |
Markatron | 0:d388aed56112 | 156 | |
Markatron | 0:d388aed56112 | 157 | /* |
Markatron | 1:3e1290de9c8d | 158 | ** Provides information required to make use of an encoder for |
Markatron | 1:3e1290de9c8d | 159 | ** specifying distance. |
Markatron | 1:3e1290de9c8d | 160 | ** @params countsPerRevolution: The number of counts the encoder |
Markatron | 1:3e1290de9c8d | 161 | ** makes in one full cycle of the wheel. |
Markatron | 1:3e1290de9c8d | 162 | ** @params wheelCircumference: The circumference of the wheel being |
Markatron | 1:3e1290de9c8d | 163 | ** read by the encoder. |
Markatron | 1:3e1290de9c8d | 164 | */ |
Markatron | 1:3e1290de9c8d | 165 | void Car::configureEncoder(int countsPerRevolution, float wheelCircumference) { |
Markatron | 1:3e1290de9c8d | 166 | m_countsPerRevolution = countsPerRevolution; |
Markatron | 1:3e1290de9c8d | 167 | m_wheelCircumference = wheelCircumference; |
Markatron | 1:3e1290de9c8d | 168 | } |
Markatron | 1:3e1290de9c8d | 169 | |
Markatron | 1:3e1290de9c8d | 170 | /* |
Markatron | 0:d388aed56112 | 171 | ** Takes a distance specified by user, and calculates how far will |
Markatron | 0:d388aed56112 | 172 | ** be travelled in 1 second. It then calculates the time that will |
Markatron | 0:d388aed56112 | 173 | ** be required to travel the specified distance from this result. |
Markatron | 0:d388aed56112 | 174 | ** @params distance: The distance that needs to be converted into |
Markatron | 0:d388aed56112 | 175 | ** a time value. |
Markatron | 0:d388aed56112 | 176 | */ |
Markatron | 1:3e1290de9c8d | 177 | /* |
Markatron | 0:d388aed56112 | 178 | float Car::distanceToTimeConverter(float distance) { |
Markatron | 0:d388aed56112 | 179 | float singleMovement = sqrt(distance); // sqaure root of distance. |
Markatron | 0:d388aed56112 | 180 | float time = 1; |
Markatron | 0:d388aed56112 | 181 | |
Markatron | 0:d388aed56112 | 182 | time = time + (distance / singleMovement); |
Markatron | 0:d388aed56112 | 183 | |
Markatron | 0:d388aed56112 | 184 | return time; |
Markatron | 0:d388aed56112 | 185 | } |
Markatron | 1:3e1290de9c8d | 186 | */ |
Markatron | 0:d388aed56112 | 187 | |
Markatron | 0:d388aed56112 | 188 | #endif // CAR_C |