Renishaw / Mbed 2 deprecated RenBuggy_Timed

Library for use with the RenBuggy with 2 wheels that travels for an amount of time specified by the user.

Dependencies:   mbed

Dependents:   RenBuggy_Timed_Programme RenBuggy_Figure_Of_Eight

RenBuggyTimed.h@0:a413eedb9896, 2014-03-31 (annotated)

Committer:
Markatron
Date:
Mon Mar 31 10:18:38 2014 +0000
Revision:
0:a413eedb9896
Created a library for use with the RenBuggy with 2 wheels that travels for an amount of time specified by the user.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Markatron 0:a413eedb9896 1 /*******************************************************************************
Markatron 0:a413eedb9896 2 * Used to drive RenBuggy with 2 wheels for a specified amount of time. *
Markatron 0:a413eedb9896 3 * Copyright (c) 2014 Mark Jones *
Markatron 0:a413eedb9896 4 * *
Markatron 0:a413eedb9896 5 * Permission is hereby granted, free of charge, to any person obtaining a copy *
Markatron 0:a413eedb9896 6 * of this software and associated documentation files (the "Software"), to deal*
Markatron 0:a413eedb9896 7 * in the Software without restriction, including without limitation the rights *
Markatron 0:a413eedb9896 8 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell *
Markatron 0:a413eedb9896 9 * copies of the Software, and to permit persons to whom the Software is *
Markatron 0:a413eedb9896 10 * furnished to do so, subject to the following conditions: *
Markatron 0:a413eedb9896 11 * *
Markatron 0:a413eedb9896 12 * The above copyright notice and this permission notice shall be included in *
Markatron 0:a413eedb9896 13 * all copies or substantial portions of the Software. *
Markatron 0:a413eedb9896 14 * *
Markatron 0:a413eedb9896 15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR *
Markatron 0:a413eedb9896 16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, *
Markatron 0:a413eedb9896 17 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE *
Markatron 0:a413eedb9896 18 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER *
Markatron 0:a413eedb9896 19 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,*
Markatron 0:a413eedb9896 20 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN *
Markatron 0:a413eedb9896 21 * THE SOFTWARE. *
Markatron 0:a413eedb9896 22 * *
Markatron 0:a413eedb9896 23 * RenBuggyTimed.h *
Markatron 0:a413eedb9896 24 * *
Markatron 0:a413eedb9896 25 * V1.0 31/03/2014 Mark Jones *
Markatron 0:a413eedb9896 26 *******************************************************************************/
Markatron 0:a413eedb9896 27
Markatron 0:a413eedb9896 28 #ifndef RENBUGGYTIMED_H
Markatron 0:a413eedb9896 29 #define RENBUGGYTIMED_H
Markatron 0:a413eedb9896 30
Markatron 0:a413eedb9896 31 #include "mbed.h"
Markatron 0:a413eedb9896 32
Markatron 0:a413eedb9896 33 /**
Markatron 0:a413eedb9896 34 * RenBuggyTimed example:
Markatron 0:a413eedb9896 35 * @code
Markatron 0:a413eedb9896 36
Markatron 0:a413eedb9896 37 #include "RenBuggyTimed.h"
Markatron 0:a413eedb9896 38
Markatron 0:a413eedb9896 39 RenBuggy myBuggy(p5, p6, p8, p7);
Markatron 0:a413eedb9896 40
Markatron 0:a413eedb9896 41 int main() {
Markatron 0:a413eedb9896 42
Markatron 0:a413eedb9896 43 myBuggy.forward(4);
Markatron 0:a413eedb9896 44 myBuggy.left(3);
Markatron 0:a413eedb9896 45 myBuggy.forward(4);
Markatron 0:a413eedb9896 46 myBuggy.right(3);
Markatron 0:a413eedb9896 47
Markatron 0:a413eedb9896 48 return 0;
Markatron 0:a413eedb9896 49 }
Markatron 0:a413eedb9896 50 @endcode
Markatron 0:a413eedb9896 51 */
Markatron 0:a413eedb9896 52
Markatron 0:a413eedb9896 53 /**
Markatron 0:a413eedb9896 54 * The class used to control a timed version
Markatron 0:a413eedb9896 55 * of the RenBuggy with 2 wheels.
Markatron 0:a413eedb9896 56 */
Markatron 0:a413eedb9896 57 class RenBuggy {
Markatron 0:a413eedb9896 58
Markatron 0:a413eedb9896 59 private:
Markatron 0:a413eedb9896 60 PwmOut m_motorL;
Markatron 0:a413eedb9896 61 PwmOut m_motorR;
Markatron 0:a413eedb9896 62
Markatron 0:a413eedb9896 63 DigitalOut m_brakeL;
Markatron 0:a413eedb9896 64 DigitalOut m_brakeR;
Markatron 0:a413eedb9896 65
Markatron 0:a413eedb9896 66 public:
Markatron 0:a413eedb9896 67 /**
Markatron 0:a413eedb9896 68 * Constructs the class with the pins for the pwm outputs
Markatron 0:a413eedb9896 69 * and the digital outputs, to move and stop.
Markatron 0:a413eedb9896 70 */
Markatron 0:a413eedb9896 71 RenBuggy(PinName leftMotor, PinName rightMotor,
Markatron 0:a413eedb9896 72 PinName leftBrake, PinName rightBrake);
Markatron 0:a413eedb9896 73 /**
Markatron 0:a413eedb9896 74 * Deconstructs the buggy.
Markatron 0:a413eedb9896 75 */
Markatron 0:a413eedb9896 76 ~RenBuggy();
Markatron 0:a413eedb9896 77
Markatron 0:a413eedb9896 78 /**
Markatron 0:a413eedb9896 79 * Moves the buggy forward for a specified amount of time.
Markatron 0:a413eedb9896 80 */
Markatron 0:a413eedb9896 81 void forward(float time);
Markatron 0:a413eedb9896 82
Markatron 0:a413eedb9896 83 /**
Markatron 0:a413eedb9896 84 * Turns the buggy forward and left for a specified amount of time.
Markatron 0:a413eedb9896 85 */
Markatron 0:a413eedb9896 86 void left(float time);
Markatron 0:a413eedb9896 87
Markatron 0:a413eedb9896 88 /**
Markatron 0:a413eedb9896 89 * Turns the buggy forward and right for a specified amount of time.
Markatron 0:a413eedb9896 90 */
Markatron 0:a413eedb9896 91 void right(float time);
Markatron 0:a413eedb9896 92
Markatron 0:a413eedb9896 93 /**
Markatron 0:a413eedb9896 94 * Applies the brakes.
Markatron 0:a413eedb9896 95 */
Markatron 0:a413eedb9896 96 void stop();
Markatron 0:a413eedb9896 97
Markatron 0:a413eedb9896 98 };
Markatron 0:a413eedb9896 99
Markatron 0:a413eedb9896 100 #endif // RENBUGGYTIMED_H