Updated version of RenBuggy Servo that can accept instructions based on time or distance.
Fork of RenBuggyServo by
Car.cpp@8:7af88a6dbb05, 2014-04-03 (annotated)
- Committer:
- ELloyd
- Date:
- Thu Apr 03 09:47:03 2014 +0000
- Revision:
- 8:7af88a6dbb05
- Parent:
- 7:566d6deaceac
Made a main.cpp
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 | 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 | 7:566d6deaceac | 107 | void Car::forwards_timed(float Time) { |
ELloyd | 7:566d6deaceac | 108 | m_motor.pulsewidth_us(m_speed); |
ELloyd | 7:566d6deaceac | 109 | wait(Time); |
ELloyd | 7:566d6deaceac | 110 | stop(); |
ELloyd | 7:566d6deaceac | 111 | } |
ELloyd | 7:566d6deaceac | 112 | |
ELloyd | 7:566d6deaceac | 113 | |
ELloyd | 7:566d6deaceac | 114 | void Car::forwards(float distance) { //Temporary extra one so that their current instructions still work. |
ELloyd | 7:566d6deaceac | 115 | int countsForward = (int)(distance * (m_countsPerRevolution / m_wheelCircumference)); |
ELloyd | 7:566d6deaceac | 116 | |
ELloyd | 7:566d6deaceac | 117 | m_encoderCount = 0; |
ELloyd | 7:566d6deaceac | 118 | bool isMoving = true; |
Markatron | 1:3e1290de9c8d | 119 | m_motor.pulsewidth_us(m_speed); |
ELloyd | 7:566d6deaceac | 120 | |
ELloyd | 7:566d6deaceac | 121 | while(isMoving) { |
ELloyd | 7:566d6deaceac | 122 | wait(0.2); // <<-- for some unknown reason, this requires a delay to work :-S |
ELloyd | 7:566d6deaceac | 123 | if(countsForward < m_encoderCount) |
ELloyd | 7:566d6deaceac | 124 | { |
ELloyd | 7:566d6deaceac | 125 | isMoving = false; |
ELloyd | 7:566d6deaceac | 126 | } |
ELloyd | 7:566d6deaceac | 127 | } |
ELloyd | 7:566d6deaceac | 128 | // When it's finished, stop the buggy. |
ELloyd | 7:566d6deaceac | 129 | stop(); |
ELloyd | 7:566d6deaceac | 130 | |
ELloyd | 7:566d6deaceac | 131 | return; |
Markatron | 0:d388aed56112 | 132 | } |
Markatron | 0:d388aed56112 | 133 | |
Markatron | 0:d388aed56112 | 134 | void Car::stop() { |
Markatron | 0:d388aed56112 | 135 | m_motor.pulsewidth_us(0); |
Markatron | 0:d388aed56112 | 136 | } |
Markatron | 0:d388aed56112 | 137 | |
Markatron | 0:d388aed56112 | 138 | void Car::setDirection(int degrees) { |
Markatron | 0:d388aed56112 | 139 | float angleOffset = m_servoRange * (m_servoDegrees / degrees); |
Markatron | 0:d388aed56112 | 140 | m_servo.pulsewidth_us(1500 + angleOffset); |
Markatron | 0:d388aed56112 | 141 | } |
Markatron | 0:d388aed56112 | 142 | |
Markatron | 0:d388aed56112 | 143 | void Car::configureServo_us(int pulsewidth_us, int period_us, int range, float degrees) { |
Markatron | 0:d388aed56112 | 144 | m_servo.pulsewidth_us(pulsewidth_us); |
Markatron | 0:d388aed56112 | 145 | m_servo.period_us(period_us); |
Markatron | 0:d388aed56112 | 146 | m_servoRange = range; |
Markatron | 0:d388aed56112 | 147 | m_servoDegrees = degrees; |
Markatron | 0:d388aed56112 | 148 | } |
Markatron | 0:d388aed56112 | 149 | |
Markatron | 0:d388aed56112 | 150 | void Car::configureServo_ms(int pulsewidth_ms, int period_ms, int range, float degrees) { |
Markatron | 0:d388aed56112 | 151 | m_servo.pulsewidth_ms(pulsewidth_ms); |
Markatron | 0:d388aed56112 | 152 | m_servo.period_ms(period_ms); |
Markatron | 0:d388aed56112 | 153 | m_servoRange = range; |
Markatron | 0:d388aed56112 | 154 | m_servoDegrees = degrees; |
Markatron | 0:d388aed56112 | 155 | } |
Markatron | 0:d388aed56112 | 156 | |
Markatron | 0:d388aed56112 | 157 | void Car::configureMotor_us(int pulsewidth_us, int period_us) { |
Markatron | 0:d388aed56112 | 158 | m_motor.pulsewidth_us(pulsewidth_us); |
Markatron | 0:d388aed56112 | 159 | m_motor.period_us(period_us); |
Markatron | 0:d388aed56112 | 160 | } |
Markatron | 0:d388aed56112 | 161 | |
Markatron | 0:d388aed56112 | 162 | void Car::configureMotor_ms(int pulsewidth_ms, int period_ms) { |
Markatron | 0:d388aed56112 | 163 | m_motor.pulsewidth_ms(pulsewidth_ms); |
Markatron | 0:d388aed56112 | 164 | m_motor.period_ms(period_ms); |
Markatron | 0:d388aed56112 | 165 | } |
Markatron | 0:d388aed56112 | 166 | |
Markatron | 1:3e1290de9c8d | 167 | void Car::configureEncoder(int countsPerRevolution, float wheelCircumference) { |
Markatron | 1:3e1290de9c8d | 168 | m_countsPerRevolution = countsPerRevolution; |
Markatron | 3:01bc89d7ae8e | 169 | m_wheelCircumference = wheelCircumference; |
Markatron | 1:3e1290de9c8d | 170 | } |
Markatron | 1:3e1290de9c8d | 171 | |
Markatron | 0:d388aed56112 | 172 | #endif // CAR_C |