Updated version of RenBuggy Servo that can accept instructions based on time or distance.
Fork of RenBuggyServo by
Car.cpp
- Committer:
- Markatron
- Date:
- 2014-03-07
- Revision:
- 0:d388aed56112
- Child:
- 1:3e1290de9c8d
File content as of revision 0:d388aed56112:
/******************************************************************************* * RenBED Car used to drive RenBuggy with servo and 1 motor * * Copyright (c) 2014 Mark Jones * * * * Permission is hereby granted, free of charge, to any person obtaining a copy * * of this software and associated documentation files (the "Software"), to deal* * in the Software without restriction, including without limitation the rights * * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell * * copies of the Software, and to permit persons to whom the Software is * * furnished to do so, subject to the following conditions: * * * * The above copyright notice and this permission notice shall be included in * * all copies or substantial portions of the Software. * * * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, * * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE * * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER * * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,* * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN * * THE SOFTWARE. * * * * Car.cpp * * * * V1.0 05/03/2014 Mark Jones * *******************************************************************************/ #ifndef CAR_C #define CAR_C #include "Car.h" #include "mbed.h" /* ** Constructs the car with PwmOut objects for servo and motor. ** @params servoPin: This is the pin used for pwm output for driving the servo. ** @params motorPin: This is the pin used for pwm output for driving the motor. */ Car::Car(PinName servoPin, PinName motorPin) : m_servo(servoPin), m_motor(motorPin) { } /* ** Deconstructs the car. */ Car::~Car() { } /* ** Moves the car in the direction it is pointing. ** @params distance: The distance the car will move. ** For every second the car is moving, it covers 6cm. So, ** the time to wait for travel will be the time it takes to ** travel 6cm (so 1 second) + the distance specified, divided ** by 6. */ void Car::forwards(float distance) { float singleMovement = 6; // Distance travelled in 1 sec float time = 1; // Time taken to travel 6cm. time = time + (distance / singleMovement); m_motor.pulsewidth(7000); wait(time); } /* ** Make the car move forward, at the speed specified. ** @params speed: Sets the speed that the car will move at. */ void Car::forwards(int speed) { m_motor.pulsewidth(speed); } /* ** Start the car moving with a default speed. */ void Car::forwards() { m_motor.pulsewidth_us(15000); } /* ** Stops the motor. */ void Car::stop() { m_motor.pulsewidth_us(0); } /* ** Set the direction the car is facing. ** @params degrees: The degrees of the angle, where -45 is full ** left, 0 is centre and +45 is full right. */ void Car::setDirection(int degrees) { float angleOffset = m_servoRange * (m_servoDegrees / degrees); m_servo.pulsewidth_us(1500 + angleOffset); } /* ** Configures the pulsewidth and perion for the servon, in microseconds. ** @params pulsewidth_us: The pwm pulsewidth for the servo, in mircoseconds. ** @params period_ms: The pwm period for the servo, in mircoseconds. ** @params range: The pulsewidth range to full left/right turn of the servo from centre (1.5ms). ** @params degrees: The angle to full right/left turn of the servo from centre (0). */ void Car::configureServo_us(int pulsewidth_us, int period_us, int range, float degrees) { m_servo.pulsewidth_us(pulsewidth_us); m_servo.period_us(period_us); m_servoRange = range; m_servoDegrees = degrees; } /* ** Configures the pulsewidth and period for the servo, in milliseconds. ** @params pulsewidth_ms: The pwm pulsewidth for the servo, in milliseconds. ** @params period_ms: The pwm period for the servo, in milliseconds. ** @params range: The pulsewidth range to full left/right turn of the servo from centre (1.5ms) ** @params degrees: The angle to full right/left turn of the servo from centre (0). */ void Car::configureServo_ms(int pulsewidth_ms, int period_ms, int range, float degrees) { m_servo.pulsewidth_ms(pulsewidth_ms); m_servo.period_ms(period_ms); m_servoRange = range; m_servoDegrees = degrees; } /* ** Configures the pulsewidth and period for the motor, in microseconds. ** @params pulsewidth_us: The pwm pulsewidth for the motor, in mircoseconds. ** @params period_us: The pwm period for the motor, in microseconds. */ void Car::configureMotor_us(int pulsewidth_us, int period_us) { m_motor.pulsewidth_us(pulsewidth_us); m_motor.period_us(period_us); } /* ** Configures the pulsewidth and period for the motor, in milliseconds. ** @params pulsewidth_ms: The pwm pulsewidth for the motor, in milliseconds. ** @params period_ms: The pwm period for the motor, in milliseconds. */ void Car::configureMotor_ms(int pulsewidth_ms, int period_ms) { m_motor.pulsewidth_ms(pulsewidth_ms); m_motor.period_ms(period_ms); } /* ** Takes a distance specified by user, and calculates how far will ** be travelled in 1 second. It then calculates the time that will ** be required to travel the specified distance from this result. ** @params distance: The distance that needs to be converted into ** a time value. */ float Car::distanceToTimeConverter(float distance) { float singleMovement = sqrt(distance); // sqaure root of distance. float time = 1; time = time + (distance / singleMovement); return time; } #endif // CAR_C