Updated version of RenBuggy Servo that can accept instructions based on time or distance.
Fork of RenBuggyServo by
Diff: Car.cpp
- Revision:
- 0:d388aed56112
- Child:
- 1:3e1290de9c8d
diff -r 000000000000 -r d388aed56112 Car.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Car.cpp Fri Mar 07 07:54:13 2014 +0000 @@ -0,0 +1,165 @@ +/******************************************************************************* +* 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 \ No newline at end of file