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Dependencies:   mbed Servo ros_lib_kinetic

Motors/Motor.h@10:51dd168b5a96, 2020-01-06 (annotated)

Committer:
Stumi
Date:
Mon Jan 06 20:38:07 2020 +0000
Revision:
10:51dd168b5a96
Parent:
9:326b8f261ef0 
added autonomous control to ros commands

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Stumi 2:6197e1cf2cd1 1 /*--------------------------------------------------------------------------------
Stumi 2:6197e1cf2cd1 2 Filename: TOF.h
Stumi 2:6197e1cf2cd1 3 Description: Header file for adafruit VL_6180X TOF sensor
Stumi 2:6197e1cf2cd1 4 --------------------------------------------------------------------------------*/
Stumi 2:6197e1cf2cd1 5 #ifndef MOTOR_H
Stumi 2:6197e1cf2cd1 6 #define MOTOR_H
Stumi 2:6197e1cf2cd1 7
Stumi 2:6197e1cf2cd1 8 #include "mbed.h"
Stumi 6:2cc2aac35868 9 #include "Buzzer.h"
Stumi 8:262c6c40bff9 10 #include <ros.h>
Alexshawcroft 9:326b8f261ef0 11 #include <Servo.h>
Stumi 8:262c6c40bff9 12 #include <std_msgs/UInt8.h>
Stumi 2:6197e1cf2cd1 13
Stumi 2:6197e1cf2cd1 14 /*--------------------------------------------------------------------------------
Stumi 2:6197e1cf2cd1 15 ---------------------------------DEFINES------------------------------------------
Stumi 2:6197e1cf2cd1 16 --------------------------------------------------------------------------------*/
Stumi 2:6197e1cf2cd1 17
Stumi 2:6197e1cf2cd1 18 //MOTOR 1
Stumi 2:6197e1cf2cd1 19 #define M1_IN1 PC_6
Stumi 2:6197e1cf2cd1 20 #define M1_IN2 PB_15
Stumi 2:6197e1cf2cd1 21 #define M1_PWM PB_13
Stumi 2:6197e1cf2cd1 22 #define M1_A PA_4
Stumi 2:6197e1cf2cd1 23 #define M1_B PB_12
Stumi 2:6197e1cf2cd1 24
Stumi 2:6197e1cf2cd1 25 //MOTOR 2
Stumi 2:6197e1cf2cd1 26 #define M2_IN1 PA_15
Stumi 2:6197e1cf2cd1 27 #define M2_IN2 PC_7
Stumi 2:6197e1cf2cd1 28 #define M2_PWM PB_4
Stumi 2:6197e1cf2cd1 29 #define M2_A PB_5
Stumi 2:6197e1cf2cd1 30 #define M2_B PB_3
Alexshawcroft 9:326b8f261ef0 31 #define srvoPan PE_5
Alexshawcroft 9:326b8f261ef0 32 #define srvoTilt PF_9
Alexshawcroft 9:326b8f261ef0 33
Alexshawcroft 9:326b8f261ef0 34
Alexshawcroft 9:326b8f261ef0 35 static Servo servo1(srvoTilt);
Alexshawcroft 9:326b8f261ef0 36 static Servo servo2(srvoPan);
Stumi 2:6197e1cf2cd1 37
Stumi 2:6197e1cf2cd1 38 /*--------------------------------------------------------------------------------
Stumi 2:6197e1cf2cd1 39 ---------------------------------CLASSES------------------------------------------
Stumi 2:6197e1cf2cd1 40 --------------------------------------------------------------------------------*/
Stumi 2:6197e1cf2cd1 41
Stumi 2:6197e1cf2cd1 42 // Class for managing connection and state to a VL6180X sensor
Stumi 2:6197e1cf2cd1 43
Stumi 2:6197e1cf2cd1 44 class cMotor
Stumi 2:6197e1cf2cd1 45 {
Stumi 2:6197e1cf2cd1 46 public:
Stumi 2:6197e1cf2cd1 47 cMotor(PwmOut pwm, DigitalOut fwd, DigitalOut rev); //Constructor, initialised motor pinouts
Stumi 7:8248af58df5a 48 void Forwards(float speed); //Drives motor forwards
Stumi 7:8248af58df5a 49 void Backwards(float speed);//Drives motor backwards
Stumi 7:8248af58df5a 50 void Stop(); //Stops both motors
Stumi 2:6197e1cf2cd1 51 private:
Stumi 2:6197e1cf2cd1 52 PwmOut _pwm;
Stumi 2:6197e1cf2cd1 53 DigitalOut _fwd;
Stumi 2:6197e1cf2cd1 54 DigitalOut _rev;
Stumi 2:6197e1cf2cd1 55
Stumi 2:6197e1cf2cd1 56 };
Stumi 2:6197e1cf2cd1 57
Stumi 2:6197e1cf2cd1 58 /*--------------------------------------------------------------------------------
Stumi 2:6197e1cf2cd1 59 -----------------------------------Functions---------------------------------------
Stumi 2:6197e1cf2cd1 60 --------------------------------------------------------------------------------*/
Stumi 10:51dd168b5a96 61 void Check_for_obstacles(float TOFRange[4]); //Obstacle avoidance functionality
Stumi 7:8248af58df5a 62 void update_power_levels(float vBatt); //Sends power level to the LED class for further processing
Alexshawcroft 9:326b8f261ef0 63 void MotorKeySub(const std_msgs::UInt8 &keyPress);
Alexshawcroft 9:326b8f261ef0 64 void servoKeySub(const std_msgs::UInt8 &ServoKeyPress);
Alexshawcroft 9:326b8f261ef0 65
Stumi 2:6197e1cf2cd1 66 /*--------------------------------------------------------------------------------
Stumi 2:6197e1cf2cd1 67 --------------------------------External Variables--------------------------------
Stumi 2:6197e1cf2cd1 68 --------------------------------------------------------------------------------*/
Stumi 4:36a04230554d 69 //extern cMotor MotorL; //Left motor class and pin initialisation
Stumi 4:36a04230554d 70 //extern cMotor MotorR; //Right motor class and pin initialisation
Stumi 2:6197e1cf2cd1 71
Alexshawcroft 9:326b8f261ef0 72
Alexshawcroft 9:326b8f261ef0 73 static int IncSize; //Increment size for servo movment in increments of 1 - 20 degrees
Stumi 10:51dd168b5a96 74 extern float *TOFrangePtr[4];
Alexshawcroft 9:326b8f261ef0 75
Stumi 2:6197e1cf2cd1 76 #endif