Car.h

00001 /*******************************************************************************
00002 * RenBED Car used to drive RenBuggy with servo and 1 motor                     *
00003 * Copyright (c) 2014 Mark Jones                                                *
00004 *                                                                              *
00005 * Permission is hereby granted, free of charge, to any person obtaining a copy *
00006 * of this software and associated documentation files (the "Software"), to deal*
00007 * in the Software without restriction, including without limitation the rights *
00008 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell    *
00009 * copies of the Software, and to permit persons to whom the Software is        *
00010 * furnished to do so, subject to the following conditions:                     *
00011 *                                                                              *
00012 * The above copyright notice and this permission notice shall be included in   *
00013 * all copies or substantial portions of the Software.                          *
00014 *                                                                              *
00015 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR   *
00016 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,     *
00017 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE  *
00018 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER       *
00019 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,*
00020 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN    *
00021 * THE SOFTWARE.                                                                *
00022 *                                                                              *
00023 * Car.h                                                                        *
00024 *                                                                              *
00025 * V1.1 31/03/2014                                           Mark Jones         *
00026 *******************************************************************************/
00027 
00028 #ifndef CAR_H
00029 #define CAR_H
00030 
00031 #include "mbed.h"
00032 #include "PinDetect.h"
00033 
00034 /**
00035 * RenBuggyServo Example:
00036 * @code
00037 * 
00038 * 
00039 #include "mbed.h"
00040 #include "Car.h"
00041 
00042 Car myCar(P1_25, P1_24);
00043 
00044 // Main entry point of application.
00045 int main() {
00046     
00047     // Drive the RenBuggy!
00048     myCar.setSpeed(20000);
00049     myCar.setDirection(0);
00050     
00051     myCar.forwards();   
00052     wait(1);
00053     myCar.setDirection(45);
00054     wait(1);
00055     myCar.setDirection(-45);
00056     wait(1);
00057     myCar.setDirection(0);
00058     myCar.stop(); 
00059     
00060     myCar.forwards(10); // Move the car a final 10cm.
00061     myCar.stop();
00062 }
00063 // End programme.
00064 @endcode
00065 */
00066 
00067 /**
00068 ** The car class for controlling the RenBuggy_Servo. 
00069 */
00070 class Car {  
00071     private:
00072 
00073     PwmOut m_servo;
00074     PwmOut m_motor;
00075     
00076     int m_speed;
00077     
00078     int m_encoderCount;
00079     
00080     int m_servoRange;       // Pulsewidth range to full left/right from centre (1.5ms)
00081     float m_servoDegrees;   // Angle to full right/left turn from centre (0).
00082     
00083     float m_wheelCircumference; // The circumference of the wheel with stripes.
00084     int m_countsPerRevolution;  // The number of stripes on the wheel.
00085     
00086     PinDetect m_sensor; // For debouncing.
00087     
00088     void updateEncoderCount();
00089     
00090     public:    
00091     /** Constructs the car with PwmOut objects for servo and motor.
00092     * 
00093     * @param servoPin is the pin used for pwm output for driving the servo.
00094     * @param motorPin is the pin used for pwm output for driving the motor.
00095     */
00096     Car(PinName servoPin, PinName motorPin);
00097     
00098     /** Constructs the car with PwmOut objects for servo and motor, and configures
00099     * the encoder.
00100     *
00101     * @param servoPin is the pin used for pwm output for driving the servo.
00102     * @param motorPin is the pin used for pwm output for driving the motor.
00103     * @param countsPerRevolution is the number of counts the encoder
00104     * makes in one full cycle of the wheel.
00105     * @param wheelCircumference is the circumference of the wheel being
00106     * read by the encoder.
00107     * @param sensorPin is the pin required for the encoder for debouncing.
00108     */
00109     Car(PinName servoPin, PinName motorPin, int countsPerRevolution, float wheelCircumference, PinName sensorPin);
00110     
00111     /**
00112     * Deconstructs the car.
00113     */
00114     ~Car();
00115     
00116     /**
00117     * Sets the speed the buggy will move at.
00118     * @param speed_us is the speed the car will move at, in microseconds.
00119     */
00120     void setSpeed(int speed_us);
00121     
00122     /**
00123     * Moves the car in the direction it is facing, for a specified
00124     * distance.
00125     * @param distance is how far the car will travel, in cm.
00126     */
00127     void forwards_measured(float distance);
00128     
00129     /**
00130     * Moves the car in the direction it is facing, until a user
00131     * tells it to stop.
00132     * @param Time is the time in seconds during which it will drive forwards, then stop.
00133     */
00134     void forwards_timed(float Time);
00135     
00136     /**
00137     * Moves the car in the direction it is facing, for a specified
00138     * distance.
00139     * @param distance is how far the car will travel, in cm.
00140     */
00141     void forwards(float distance);
00142     
00143     /**
00144     * Stops the car from moving.
00145     */
00146     void stop();
00147     
00148     /**
00149     * Sets the direction the car will face. This is used to navigate the car.
00150     * @param degrees is the angle of the servo, where -45 is full 
00151     * left, 0 is centre and +45 is full right.
00152     */
00153     void setDirection(int degrees);
00154     
00155     /**
00156     * Configures the servo with a pulsewidth, period, range and degrees. Pulsewidth and
00157     * period is accepted in microsecond format.
00158     * @param pulsewidth_us is pwm pulsewidth for the servo, in mircoseconds.
00159     * @param period_us is the pwm period for the servo, in mircoseconds.
00160     * @param range is the pulsewidth range to full left/right turn of the servo from centre (1500us).
00161     * @param degrees is the angle to full right/left turn of the servo from centre (0).
00162     */
00163     void configureServo_us(int pulsewidth_us, int period_us, int range, float degrees);
00164     
00165     /**
00166     * Configures the servo with a pulsewidth, period, range and degrees. Pulsewidth and
00167     * period is accepted in millisecond format.
00168     * @param pulsewidth_ms is pwm pulsewidth for the servo, in millisecond.
00169     * @param period_ms is the pwm period for the servo, in millisecond.
00170     * @param range is the pulsewidth range to full left/right turn of the servo from centre (1.5ms).
00171     * @param degrees is the angle to full right/left turn of the servo from centre (0).
00172     */
00173     void configureServo_ms(int pulsewidth_ms, int period_ms, int range, float degrees);
00174     
00175     /**
00176     * Configures the pulsewidth and period for the motor, in microseconds.
00177     * @param pulsewidth_us is the pwm pulsewidth for the motor, in mircoseconds.
00178     * @param period_us is the pwm period for the motor, in microseconds.
00179     */
00180     void configureMotor_us(int pulsewidth_us, int period_us);
00181     
00182     /**
00183     * Configures the pulsewidth and period for the motor, in milliseconds.
00184     * @param pulsewidth_ms is the pwm pulsewidth for the motor, in milliseconds.
00185     * @param period_ms is the pwm period for the motor, in milliseconds.
00186     */
00187     void configureMotor_ms(int pulsewidth_ms, int period_ms);
00188     
00189     /**
00190     * Provides information required to make use of an encoder for 
00191     * specifying distance.
00192     * @param countsPerRevolution is the number of counts the encoder
00193     * makes in one full cycle of the wheel.
00194     * @param wheelCircumference is the circumference of the wheel being
00195     * read by the encoder.
00196     */
00197     void configureEncoder(int countsPerRevolution, float wheelCircumference);
00198 };
00199 
00200 #endif // CAR_H