Updated version of RenBuggy Servo that can accept instructions based on time or distance.
Fork of RenBuggyServo by
Car.cpp@0:d388aed56112, 2014-03-07 (annotated)
- Committer:
- Markatron
- Date:
- Fri Mar 07 07:54:13 2014 +0000
- Revision:
- 0:d388aed56112
- Child:
- 1:3e1290de9c8d
Library for the RenBuggy_Servo.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Markatron | 0:d388aed56112 | 1 | /******************************************************************************* |
Markatron | 0:d388aed56112 | 2 | * RenBED Car used to drive RenBuggy with servo and 1 motor * |
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 | 0:d388aed56112 | 41 | |
Markatron | 0:d388aed56112 | 42 | } |
Markatron | 0:d388aed56112 | 43 | |
Markatron | 0:d388aed56112 | 44 | /* |
Markatron | 0:d388aed56112 | 45 | ** Deconstructs the car. |
Markatron | 0:d388aed56112 | 46 | */ |
Markatron | 0:d388aed56112 | 47 | Car::~Car() { |
Markatron | 0:d388aed56112 | 48 | } |
Markatron | 0:d388aed56112 | 49 | |
Markatron | 0:d388aed56112 | 50 | /* |
Markatron | 0:d388aed56112 | 51 | ** Moves the car in the direction it is pointing. |
Markatron | 0:d388aed56112 | 52 | ** @params distance: The distance the car will move. |
Markatron | 0:d388aed56112 | 53 | ** For every second the car is moving, it covers 6cm. So, |
Markatron | 0:d388aed56112 | 54 | ** the time to wait for travel will be the time it takes to |
Markatron | 0:d388aed56112 | 55 | ** travel 6cm (so 1 second) + the distance specified, divided |
Markatron | 0:d388aed56112 | 56 | ** by 6. |
Markatron | 0:d388aed56112 | 57 | */ |
Markatron | 0:d388aed56112 | 58 | void Car::forwards(float distance) { |
Markatron | 0:d388aed56112 | 59 | float singleMovement = 6; // Distance travelled in 1 sec |
Markatron | 0:d388aed56112 | 60 | float time = 1; // Time taken to travel 6cm. |
Markatron | 0:d388aed56112 | 61 | |
Markatron | 0:d388aed56112 | 62 | time = time + (distance / singleMovement); |
Markatron | 0:d388aed56112 | 63 | |
Markatron | 0:d388aed56112 | 64 | m_motor.pulsewidth(7000); |
Markatron | 0:d388aed56112 | 65 | wait(time); |
Markatron | 0:d388aed56112 | 66 | } |
Markatron | 0:d388aed56112 | 67 | |
Markatron | 0:d388aed56112 | 68 | /* |
Markatron | 0:d388aed56112 | 69 | ** Make the car move forward, at the speed specified. |
Markatron | 0:d388aed56112 | 70 | ** @params speed: Sets the speed that the car will move at. |
Markatron | 0:d388aed56112 | 71 | */ |
Markatron | 0:d388aed56112 | 72 | void Car::forwards(int speed) { |
Markatron | 0:d388aed56112 | 73 | m_motor.pulsewidth(speed); |
Markatron | 0:d388aed56112 | 74 | } |
Markatron | 0:d388aed56112 | 75 | |
Markatron | 0:d388aed56112 | 76 | /* |
Markatron | 0:d388aed56112 | 77 | ** Start the car moving with a default speed. |
Markatron | 0:d388aed56112 | 78 | */ |
Markatron | 0:d388aed56112 | 79 | void Car::forwards() { |
Markatron | 0:d388aed56112 | 80 | m_motor.pulsewidth_us(15000); |
Markatron | 0:d388aed56112 | 81 | } |
Markatron | 0:d388aed56112 | 82 | |
Markatron | 0:d388aed56112 | 83 | /* |
Markatron | 0:d388aed56112 | 84 | ** Stops the motor. |
Markatron | 0:d388aed56112 | 85 | */ |
Markatron | 0:d388aed56112 | 86 | void Car::stop() { |
Markatron | 0:d388aed56112 | 87 | m_motor.pulsewidth_us(0); |
Markatron | 0:d388aed56112 | 88 | } |
Markatron | 0:d388aed56112 | 89 | |
Markatron | 0:d388aed56112 | 90 | /* |
Markatron | 0:d388aed56112 | 91 | ** Set the direction the car is facing. |
Markatron | 0:d388aed56112 | 92 | ** @params degrees: The degrees of the angle, where -45 is full |
Markatron | 0:d388aed56112 | 93 | ** left, 0 is centre and +45 is full right. |
Markatron | 0:d388aed56112 | 94 | */ |
Markatron | 0:d388aed56112 | 95 | void Car::setDirection(int degrees) { |
Markatron | 0:d388aed56112 | 96 | float angleOffset = m_servoRange * (m_servoDegrees / degrees); |
Markatron | 0:d388aed56112 | 97 | m_servo.pulsewidth_us(1500 + angleOffset); |
Markatron | 0:d388aed56112 | 98 | } |
Markatron | 0:d388aed56112 | 99 | |
Markatron | 0:d388aed56112 | 100 | /* |
Markatron | 0:d388aed56112 | 101 | ** Configures the pulsewidth and perion for the servon, in microseconds. |
Markatron | 0:d388aed56112 | 102 | ** @params pulsewidth_us: The pwm pulsewidth for the servo, in mircoseconds. |
Markatron | 0:d388aed56112 | 103 | ** @params period_ms: The pwm period for the servo, in mircoseconds. |
Markatron | 0:d388aed56112 | 104 | ** @params range: The pulsewidth range to full left/right turn of the servo from centre (1.5ms). |
Markatron | 0:d388aed56112 | 105 | ** @params degrees: The angle to full right/left turn of the servo from centre (0). |
Markatron | 0:d388aed56112 | 106 | */ |
Markatron | 0:d388aed56112 | 107 | void Car::configureServo_us(int pulsewidth_us, int period_us, int range, float degrees) { |
Markatron | 0:d388aed56112 | 108 | m_servo.pulsewidth_us(pulsewidth_us); |
Markatron | 0:d388aed56112 | 109 | m_servo.period_us(period_us); |
Markatron | 0:d388aed56112 | 110 | m_servoRange = range; |
Markatron | 0:d388aed56112 | 111 | m_servoDegrees = degrees; |
Markatron | 0:d388aed56112 | 112 | } |
Markatron | 0:d388aed56112 | 113 | |
Markatron | 0:d388aed56112 | 114 | /* |
Markatron | 0:d388aed56112 | 115 | ** Configures the pulsewidth and period for the servo, in milliseconds. |
Markatron | 0:d388aed56112 | 116 | ** @params pulsewidth_ms: The pwm pulsewidth for the servo, in milliseconds. |
Markatron | 0:d388aed56112 | 117 | ** @params period_ms: The pwm period for the servo, in milliseconds. |
Markatron | 0:d388aed56112 | 118 | ** @params range: The pulsewidth range to full left/right turn of the servo from centre (1.5ms) |
Markatron | 0:d388aed56112 | 119 | ** @params degrees: The angle to full right/left turn of the servo from centre (0). |
Markatron | 0:d388aed56112 | 120 | */ |
Markatron | 0:d388aed56112 | 121 | void Car::configureServo_ms(int pulsewidth_ms, int period_ms, int range, float degrees) { |
Markatron | 0:d388aed56112 | 122 | m_servo.pulsewidth_ms(pulsewidth_ms); |
Markatron | 0:d388aed56112 | 123 | m_servo.period_ms(period_ms); |
Markatron | 0:d388aed56112 | 124 | m_servoRange = range; |
Markatron | 0:d388aed56112 | 125 | m_servoDegrees = degrees; |
Markatron | 0:d388aed56112 | 126 | } |
Markatron | 0:d388aed56112 | 127 | |
Markatron | 0:d388aed56112 | 128 | /* |
Markatron | 0:d388aed56112 | 129 | ** Configures the pulsewidth and period for the motor, in microseconds. |
Markatron | 0:d388aed56112 | 130 | ** @params pulsewidth_us: The pwm pulsewidth for the motor, in mircoseconds. |
Markatron | 0:d388aed56112 | 131 | ** @params period_us: The pwm period for the motor, in microseconds. |
Markatron | 0:d388aed56112 | 132 | */ |
Markatron | 0:d388aed56112 | 133 | void Car::configureMotor_us(int pulsewidth_us, int period_us) { |
Markatron | 0:d388aed56112 | 134 | m_motor.pulsewidth_us(pulsewidth_us); |
Markatron | 0:d388aed56112 | 135 | m_motor.period_us(period_us); |
Markatron | 0:d388aed56112 | 136 | } |
Markatron | 0:d388aed56112 | 137 | |
Markatron | 0:d388aed56112 | 138 | /* |
Markatron | 0:d388aed56112 | 139 | ** Configures the pulsewidth and period for the motor, in milliseconds. |
Markatron | 0:d388aed56112 | 140 | ** @params pulsewidth_ms: The pwm pulsewidth for the motor, in milliseconds. |
Markatron | 0:d388aed56112 | 141 | ** @params period_ms: The pwm period for the motor, in milliseconds. |
Markatron | 0:d388aed56112 | 142 | */ |
Markatron | 0:d388aed56112 | 143 | void Car::configureMotor_ms(int pulsewidth_ms, int period_ms) { |
Markatron | 0:d388aed56112 | 144 | m_motor.pulsewidth_ms(pulsewidth_ms); |
Markatron | 0:d388aed56112 | 145 | m_motor.period_ms(period_ms); |
Markatron | 0:d388aed56112 | 146 | } |
Markatron | 0:d388aed56112 | 147 | |
Markatron | 0:d388aed56112 | 148 | /* |
Markatron | 0:d388aed56112 | 149 | ** Takes a distance specified by user, and calculates how far will |
Markatron | 0:d388aed56112 | 150 | ** be travelled in 1 second. It then calculates the time that will |
Markatron | 0:d388aed56112 | 151 | ** be required to travel the specified distance from this result. |
Markatron | 0:d388aed56112 | 152 | ** @params distance: The distance that needs to be converted into |
Markatron | 0:d388aed56112 | 153 | ** a time value. |
Markatron | 0:d388aed56112 | 154 | */ |
Markatron | 0:d388aed56112 | 155 | float Car::distanceToTimeConverter(float distance) { |
Markatron | 0:d388aed56112 | 156 | |
Markatron | 0:d388aed56112 | 157 | float singleMovement = sqrt(distance); // sqaure root of distance. |
Markatron | 0:d388aed56112 | 158 | float time = 1; |
Markatron | 0:d388aed56112 | 159 | |
Markatron | 0:d388aed56112 | 160 | time = time + (distance / singleMovement); |
Markatron | 0:d388aed56112 | 161 | |
Markatron | 0:d388aed56112 | 162 | return time; |
Markatron | 0:d388aed56112 | 163 | } |
Markatron | 0:d388aed56112 | 164 | |
Markatron | 0:d388aed56112 | 165 | #endif // CAR_C |