scribe robot working with stepper motors
Dependencies: BLE_nRF8001 BNO055 HC_SR04_Ultrasonic_Library localization mbed-rtos mbed
stepper.cpp@0:83acd45a2405, 2016-04-21 (annotated)
- Committer:
- manz
- Date:
- Thu Apr 21 22:01:19 2016 +0000
- Revision:
- 0:83acd45a2405
- Child:
- 2:63aef644e6d2
stepper version of SCRIBE
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
manz | 0:83acd45a2405 | 1 | #include "mbed.h"; |
manz | 0:83acd45a2405 | 2 | |
manz | 0:83acd45a2405 | 3 | DigitalOut yellow_l(p9); |
manz | 0:83acd45a2405 | 4 | DigitalOut orange_l(p14); |
manz | 0:83acd45a2405 | 5 | DigitalOut brown_l(p15); |
manz | 0:83acd45a2405 | 6 | DigitalOut black_l(p16); |
manz | 0:83acd45a2405 | 7 | |
manz | 0:83acd45a2405 | 8 | DigitalOut yellow_r(p17); |
manz | 0:83acd45a2405 | 9 | DigitalOut orange_r(p18); |
manz | 0:83acd45a2405 | 10 | DigitalOut brown_r(p19); |
manz | 0:83acd45a2405 | 11 | DigitalOut black_r(p20); |
manz | 0:83acd45a2405 | 12 | |
manz | 0:83acd45a2405 | 13 | int wait_t = 60; |
manz | 0:83acd45a2405 | 14 | int case_right = 0; |
manz | 0:83acd45a2405 | 15 | int case_left = 0; |
manz | 0:83acd45a2405 | 16 | |
manz | 0:83acd45a2405 | 17 | //StepperMotorUni motor( p17, p18, p19, p20); |
manz | 0:83acd45a2405 | 18 | int step_f(){ |
manz | 0:83acd45a2405 | 19 | //step 0101 |
manz | 0:83acd45a2405 | 20 | black_l = 0; |
manz | 0:83acd45a2405 | 21 | orange_l = 0; |
manz | 0:83acd45a2405 | 22 | brown_l = 1; |
manz | 0:83acd45a2405 | 23 | yellow_l = 1; |
manz | 0:83acd45a2405 | 24 | black_r = 1; |
manz | 0:83acd45a2405 | 25 | orange_r = 0; |
manz | 0:83acd45a2405 | 26 | brown_r = 0; |
manz | 0:83acd45a2405 | 27 | yellow_r = 1; |
manz | 0:83acd45a2405 | 28 | |
manz | 0:83acd45a2405 | 29 | wait_ms(wait_t); |
manz | 0:83acd45a2405 | 30 | |
manz | 0:83acd45a2405 | 31 | //step 1100 |
manz | 0:83acd45a2405 | 32 | black_l = 0; |
manz | 0:83acd45a2405 | 33 | orange_l = 1; |
manz | 0:83acd45a2405 | 34 | brown_l = 1; |
manz | 0:83acd45a2405 | 35 | yellow_l = 0; |
manz | 0:83acd45a2405 | 36 | black_r = 1; |
manz | 0:83acd45a2405 | 37 | orange_r = 1; |
manz | 0:83acd45a2405 | 38 | brown_r = 0; |
manz | 0:83acd45a2405 | 39 | yellow_r = 0; |
manz | 0:83acd45a2405 | 40 | |
manz | 0:83acd45a2405 | 41 | wait_ms(wait_t); |
manz | 0:83acd45a2405 | 42 | |
manz | 0:83acd45a2405 | 43 | //step 1010 |
manz | 0:83acd45a2405 | 44 | black_l = 1; |
manz | 0:83acd45a2405 | 45 | orange_l = 1; |
manz | 0:83acd45a2405 | 46 | brown_l = 0; |
manz | 0:83acd45a2405 | 47 | yellow_l = 0; |
manz | 0:83acd45a2405 | 48 | black_r = 0; |
manz | 0:83acd45a2405 | 49 | orange_r = 1; |
manz | 0:83acd45a2405 | 50 | brown_r = 1; |
manz | 0:83acd45a2405 | 51 | yellow_r = 0; |
manz | 0:83acd45a2405 | 52 | |
manz | 0:83acd45a2405 | 53 | wait_ms(wait_t); |
manz | 0:83acd45a2405 | 54 | |
manz | 0:83acd45a2405 | 55 | //step 0011 |
manz | 0:83acd45a2405 | 56 | black_l = 1; |
manz | 0:83acd45a2405 | 57 | orange_l = 0; |
manz | 0:83acd45a2405 | 58 | brown_l = 0; |
manz | 0:83acd45a2405 | 59 | yellow_l = 1; |
manz | 0:83acd45a2405 | 60 | black_r = 0; |
manz | 0:83acd45a2405 | 61 | orange_r = 0; |
manz | 0:83acd45a2405 | 62 | brown_r = 1; |
manz | 0:83acd45a2405 | 63 | yellow_r = 1; |
manz | 0:83acd45a2405 | 64 | |
manz | 0:83acd45a2405 | 65 | wait_ms(wait_t); |
manz | 0:83acd45a2405 | 66 | |
manz | 0:83acd45a2405 | 67 | return 1; |
manz | 0:83acd45a2405 | 68 | } |
manz | 0:83acd45a2405 | 69 | |
manz | 0:83acd45a2405 | 70 | |
manz | 0:83acd45a2405 | 71 | int step_b(){ |
manz | 0:83acd45a2405 | 72 | //step 0101 |
manz | 0:83acd45a2405 | 73 | black_r = 0; |
manz | 0:83acd45a2405 | 74 | orange_r = 0; |
manz | 0:83acd45a2405 | 75 | brown_r = 1; |
manz | 0:83acd45a2405 | 76 | yellow_r = 1; |
manz | 0:83acd45a2405 | 77 | black_l = 1; |
manz | 0:83acd45a2405 | 78 | orange_l = 0; |
manz | 0:83acd45a2405 | 79 | brown_l = 0; |
manz | 0:83acd45a2405 | 80 | yellow_l = 1; |
manz | 0:83acd45a2405 | 81 | |
manz | 0:83acd45a2405 | 82 | wait_ms(wait_t); |
manz | 0:83acd45a2405 | 83 | |
manz | 0:83acd45a2405 | 84 | //step 1100 |
manz | 0:83acd45a2405 | 85 | black_r = 0; |
manz | 0:83acd45a2405 | 86 | orange_r = 1; |
manz | 0:83acd45a2405 | 87 | brown_r = 1; |
manz | 0:83acd45a2405 | 88 | yellow_r = 0; |
manz | 0:83acd45a2405 | 89 | black_l = 1; |
manz | 0:83acd45a2405 | 90 | orange_l = 1; |
manz | 0:83acd45a2405 | 91 | brown_l = 0; |
manz | 0:83acd45a2405 | 92 | yellow_l = 0; |
manz | 0:83acd45a2405 | 93 | |
manz | 0:83acd45a2405 | 94 | wait_ms(wait_t); |
manz | 0:83acd45a2405 | 95 | |
manz | 0:83acd45a2405 | 96 | //step 1010 |
manz | 0:83acd45a2405 | 97 | black_r = 1; |
manz | 0:83acd45a2405 | 98 | orange_r = 1; |
manz | 0:83acd45a2405 | 99 | brown_r = 0; |
manz | 0:83acd45a2405 | 100 | yellow_r = 0; |
manz | 0:83acd45a2405 | 101 | black_l = 0; |
manz | 0:83acd45a2405 | 102 | orange_l = 1; |
manz | 0:83acd45a2405 | 103 | brown_l = 1; |
manz | 0:83acd45a2405 | 104 | yellow_l = 0; |
manz | 0:83acd45a2405 | 105 | |
manz | 0:83acd45a2405 | 106 | wait_ms(wait_t); |
manz | 0:83acd45a2405 | 107 | |
manz | 0:83acd45a2405 | 108 | //step 0011 |
manz | 0:83acd45a2405 | 109 | black_r = 1; |
manz | 0:83acd45a2405 | 110 | orange_r = 0; |
manz | 0:83acd45a2405 | 111 | brown_r = 0; |
manz | 0:83acd45a2405 | 112 | yellow_r = 1; |
manz | 0:83acd45a2405 | 113 | black_l = 0; |
manz | 0:83acd45a2405 | 114 | orange_l = 0; |
manz | 0:83acd45a2405 | 115 | brown_l = 1; |
manz | 0:83acd45a2405 | 116 | yellow_l = 1; |
manz | 0:83acd45a2405 | 117 | |
manz | 0:83acd45a2405 | 118 | wait_ms(wait_t); |
manz | 0:83acd45a2405 | 119 | |
manz | 0:83acd45a2405 | 120 | return 1; |
manz | 0:83acd45a2405 | 121 | } |
manz | 0:83acd45a2405 | 122 | |
manz | 0:83acd45a2405 | 123 | int step_right(){ |
manz | 0:83acd45a2405 | 124 | switch(case_right){ |
manz | 0:83acd45a2405 | 125 | case 0: |
manz | 0:83acd45a2405 | 126 | //step 0101 |
manz | 0:83acd45a2405 | 127 | black_r = 0; |
manz | 0:83acd45a2405 | 128 | orange_r = 0; |
manz | 0:83acd45a2405 | 129 | brown_r = 1; |
manz | 0:83acd45a2405 | 130 | yellow_r = 1; |
manz | 0:83acd45a2405 | 131 | black_l = 0; |
manz | 0:83acd45a2405 | 132 | orange_l = 0; |
manz | 0:83acd45a2405 | 133 | brown_l = 1; |
manz | 0:83acd45a2405 | 134 | yellow_l = 1; |
manz | 0:83acd45a2405 | 135 | |
manz | 0:83acd45a2405 | 136 | wait_ms(wait_t); |
manz | 0:83acd45a2405 | 137 | case_right = 1; |
manz | 0:83acd45a2405 | 138 | break; |
manz | 0:83acd45a2405 | 139 | |
manz | 0:83acd45a2405 | 140 | case 1: |
manz | 0:83acd45a2405 | 141 | //step 1100 |
manz | 0:83acd45a2405 | 142 | black_r = 0; |
manz | 0:83acd45a2405 | 143 | orange_r = 1; |
manz | 0:83acd45a2405 | 144 | brown_r = 1; |
manz | 0:83acd45a2405 | 145 | yellow_r = 0; |
manz | 0:83acd45a2405 | 146 | black_l = 0; |
manz | 0:83acd45a2405 | 147 | orange_l = 1; |
manz | 0:83acd45a2405 | 148 | brown_l = 1; |
manz | 0:83acd45a2405 | 149 | yellow_l = 0; |
manz | 0:83acd45a2405 | 150 | |
manz | 0:83acd45a2405 | 151 | wait_ms(wait_t); |
manz | 0:83acd45a2405 | 152 | case_right = 2; |
manz | 0:83acd45a2405 | 153 | break; |
manz | 0:83acd45a2405 | 154 | |
manz | 0:83acd45a2405 | 155 | |
manz | 0:83acd45a2405 | 156 | case 2: |
manz | 0:83acd45a2405 | 157 | //step 1010 |
manz | 0:83acd45a2405 | 158 | black_r = 1; |
manz | 0:83acd45a2405 | 159 | orange_r = 1; |
manz | 0:83acd45a2405 | 160 | brown_r = 0; |
manz | 0:83acd45a2405 | 161 | yellow_r = 0; |
manz | 0:83acd45a2405 | 162 | black_l = 1; |
manz | 0:83acd45a2405 | 163 | orange_l = 1; |
manz | 0:83acd45a2405 | 164 | brown_l = 0; |
manz | 0:83acd45a2405 | 165 | yellow_l = 0; |
manz | 0:83acd45a2405 | 166 | |
manz | 0:83acd45a2405 | 167 | wait_ms(wait_t); |
manz | 0:83acd45a2405 | 168 | case_right = 3; |
manz | 0:83acd45a2405 | 169 | break; |
manz | 0:83acd45a2405 | 170 | |
manz | 0:83acd45a2405 | 171 | |
manz | 0:83acd45a2405 | 172 | case 3: |
manz | 0:83acd45a2405 | 173 | //step 0011 |
manz | 0:83acd45a2405 | 174 | black_r = 1; |
manz | 0:83acd45a2405 | 175 | orange_r = 0; |
manz | 0:83acd45a2405 | 176 | brown_r = 0; |
manz | 0:83acd45a2405 | 177 | yellow_r = 1; |
manz | 0:83acd45a2405 | 178 | black_l = 1; |
manz | 0:83acd45a2405 | 179 | orange_l = 0; |
manz | 0:83acd45a2405 | 180 | brown_l = 0; |
manz | 0:83acd45a2405 | 181 | yellow_l = 1; |
manz | 0:83acd45a2405 | 182 | |
manz | 0:83acd45a2405 | 183 | wait_ms(wait_t); |
manz | 0:83acd45a2405 | 184 | case_right = 0; |
manz | 0:83acd45a2405 | 185 | break; |
manz | 0:83acd45a2405 | 186 | } |
manz | 0:83acd45a2405 | 187 | return 1; |
manz | 0:83acd45a2405 | 188 | } |
manz | 0:83acd45a2405 | 189 | |
manz | 0:83acd45a2405 | 190 | |
manz | 0:83acd45a2405 | 191 | int step_left(){ |
manz | 0:83acd45a2405 | 192 | switch(case_left){ |
manz | 0:83acd45a2405 | 193 | case 0: |
manz | 0:83acd45a2405 | 194 | //step 0011 |
manz | 0:83acd45a2405 | 195 | black_l = 1; |
manz | 0:83acd45a2405 | 196 | orange_l = 0; |
manz | 0:83acd45a2405 | 197 | brown_l = 0; |
manz | 0:83acd45a2405 | 198 | yellow_l = 1; |
manz | 0:83acd45a2405 | 199 | black_r = 1; |
manz | 0:83acd45a2405 | 200 | orange_r = 0; |
manz | 0:83acd45a2405 | 201 | brown_r = 0; |
manz | 0:83acd45a2405 | 202 | yellow_r = 1; |
manz | 0:83acd45a2405 | 203 | |
manz | 0:83acd45a2405 | 204 | wait_ms(wait_t); |
manz | 0:83acd45a2405 | 205 | case_left = 1; |
manz | 0:83acd45a2405 | 206 | break; |
manz | 0:83acd45a2405 | 207 | |
manz | 0:83acd45a2405 | 208 | case 1: |
manz | 0:83acd45a2405 | 209 | black_l = 1; |
manz | 0:83acd45a2405 | 210 | orange_l = 1; |
manz | 0:83acd45a2405 | 211 | brown_l = 0; |
manz | 0:83acd45a2405 | 212 | yellow_l = 0; |
manz | 0:83acd45a2405 | 213 | black_r = 1; |
manz | 0:83acd45a2405 | 214 | orange_r = 1; |
manz | 0:83acd45a2405 | 215 | brown_r = 0; |
manz | 0:83acd45a2405 | 216 | yellow_r = 0; |
manz | 0:83acd45a2405 | 217 | |
manz | 0:83acd45a2405 | 218 | wait_ms(wait_t); |
manz | 0:83acd45a2405 | 219 | case_left = 2; |
manz | 0:83acd45a2405 | 220 | break; |
manz | 0:83acd45a2405 | 221 | |
manz | 0:83acd45a2405 | 222 | case 2: |
manz | 0:83acd45a2405 | 223 | black_l = 0; |
manz | 0:83acd45a2405 | 224 | orange_l = 1; |
manz | 0:83acd45a2405 | 225 | brown_l = 1; |
manz | 0:83acd45a2405 | 226 | yellow_l = 0; |
manz | 0:83acd45a2405 | 227 | black_r = 0; |
manz | 0:83acd45a2405 | 228 | orange_r = 1; |
manz | 0:83acd45a2405 | 229 | brown_r = 1; |
manz | 0:83acd45a2405 | 230 | yellow_r = 0; |
manz | 0:83acd45a2405 | 231 | |
manz | 0:83acd45a2405 | 232 | wait_ms(wait_t); |
manz | 0:83acd45a2405 | 233 | case_left = 3; |
manz | 0:83acd45a2405 | 234 | break; |
manz | 0:83acd45a2405 | 235 | |
manz | 0:83acd45a2405 | 236 | case 3: |
manz | 0:83acd45a2405 | 237 | black_l = 0; |
manz | 0:83acd45a2405 | 238 | orange_l = 0; |
manz | 0:83acd45a2405 | 239 | brown_l = 1; |
manz | 0:83acd45a2405 | 240 | yellow_l = 1; |
manz | 0:83acd45a2405 | 241 | black_r = 0; |
manz | 0:83acd45a2405 | 242 | orange_r = 0; |
manz | 0:83acd45a2405 | 243 | brown_r = 1; |
manz | 0:83acd45a2405 | 244 | yellow_r = 1; |
manz | 0:83acd45a2405 | 245 | |
manz | 0:83acd45a2405 | 246 | wait_ms(wait_t); |
manz | 0:83acd45a2405 | 247 | |
manz | 0:83acd45a2405 | 248 | case_left = 0; |
manz | 0:83acd45a2405 | 249 | break; |
manz | 0:83acd45a2405 | 250 | } |
manz | 0:83acd45a2405 | 251 | return 1; |
manz | 0:83acd45a2405 | 252 | } |