Revision 0:c69b20870374, committed 2015-10-12

Comitter:

bcostm

Date:

Mon Oct 12 11:32:33 2015 +0000

Commit message:

Initial version.

Changed in this revision

diff -r 000000000000 -r c69b20870374 ZumoShield.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ZumoShield.cpp	Mon Oct 12 11:32:33 2015 +0000
@@ -0,0 +1,122 @@
+#include "ZumoShield.h"
+#include "mbed.h"
+
+ZumoShield::ZumoShield(PinName m1_pwm_pin, PinName m1_dir_pin,
+                       PinName m2_pwm_pin, PinName m2_dir_pin) :
+//                     PinName a0_pin, PinName a1_pin, PinName a2_pin, PinName a3_pin, PinName a4_pin, PinName a5_pin) :
+    m1pwm(m1_pwm_pin),
+    m1dir(m1_dir_pin),
+    m2pwm(m2_pwm_pin),
+    m2dir(m2_dir_pin)
+    /*
+    a0sens(a0_pin),
+    a1sens(a1_pin),
+    a2sens(a2_pin),
+    a3sens(a3_pin),
+    a4sens(a4_pin),
+    a5sens(a5_pin)
+    */
+{
+}
+
+void ZumoShield::left_motor(float speed)
+{
+    if (speed >= 0) {
+        m2pwm = speed;
+        m2dir = 0;
+    } else {
+        m2pwm = -speed;
+        m2dir = 1;
+    }
+}
+
+void ZumoShield::right_motor(float speed)
+{
+    if (speed >= 0) {
+        m1pwm = speed;
+        m1dir = 1;
+    } else {
+        m1pwm = -speed;
+        m1dir = 0;
+    }
+}
+
+void ZumoShield::turn_left(float speed)
+{
+    left_motor(0);
+    right_motor(speed);
+}
+
+void ZumoShield::turn_right(float speed)
+{
+    left_motor(speed);
+    right_motor(0);
+}
+
+void ZumoShield::left(float speed)
+{
+    left_motor(-speed);
+    right_motor(speed);
+}
+
+void ZumoShield::right(float speed)
+{
+    left_motor(speed);
+    right_motor(-speed);
+}
+
+void ZumoShield::forward(float speed)
+{
+    if (speed == 0) {
+        left_motor(0);
+        right_motor(0);
+    } else {
+        left_motor(speed);
+        right_motor(speed);
+    }
+}
+
+void ZumoShield::backward(float speed)
+{
+    if (speed == 0) {
+        left_motor(0);
+        right_motor(0);
+    } else {
+        left_motor(-speed);
+        right_motor(-speed);
+    }
+}
+
+void ZumoShield::stop(int motor)
+{
+    if (motor == 1) {
+        stopLeft();
+    } else if (motor == 2) {
+        stopRight();
+    }
+}
+
+void ZumoShield::stopLeft()
+{
+    m2pwm = 0;
+    m2dir = 0;
+}
+
+void ZumoShield::stopRight()
+{
+    m1pwm = 0;
+    m1dir = 0;
+}
+
+void ZumoShield::stopAll()
+{
+    stopLeft();
+    stopRight();
+}
+
+/* TODO
+float ZumoShield::position()
+{
+    return output;
+}
+*/

diff -r 000000000000 -r c69b20870374 ZumoShield.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ZumoShield.h	Mon Oct 12 11:32:33 2015 +0000
@@ -0,0 +1,93 @@
+#include "mbed.h"
+
+/** Zumo Shield Control Class
+*/
+class ZumoShield {
+    public:
+    
+        /** Create a Zumo shield object
+         *
+         * @param m1pwm Motor1 pwm pin
+         * @param m1dir Motor1 direction pin
+         * @param m2pwm Motor2 pwm pin
+         * @param m2dir Motor2 direction pin
+         */
+        ZumoShield(PinName m1_pwm_pin, PinName m1_dir_pin,
+                   PinName m2_pwm_pin, PinName m2_dir_pin);
+                   //PinName a0_pin, PinName a1_pin, PinName a2_pin, PinName a3_pin, PinName a4_pin, PinName a5_pin);
+
+        /** Switch on the left motor at the given speed.
+         *  @param speed The speed, from 0.0 to 1.0 at which to spin the motor.
+         */
+        void left_motor(float speed);
+        
+        /** Switch on the right motor at the given speed.
+         *  @param speed The speed, from 0.0 to 1.0 at which to spin the motor.
+         */
+        void right_motor(float speed);
+        
+        /** Switch on both motors, forwards at the given speed.
+         *  @param speed The speed, from 0.0 to 1.0 at which to spin the motor.
+         */
+        void forward(float speed);
+        
+        /** Switch on both motors, backwards at the given speed.
+         *  @param speed The speed, from 0.0 to 1.0 at which to spin the motor.
+         */
+        void backward(float speed);
+        
+        /** Switch on both motors at the given speed, in opposite directions so as to turn left.
+         *  @param speed The speed, from 0.0 to 1.0 at which to spin the motors.
+        */
+        void left(float speed);
+        
+        /** Switch on both motors at the given speed, in opposite directions so as to turn right.
+         *  @param speed The speed, from 0.0 to 1.0 at which to spin the motors.
+         */
+        void right(float speed);
+        
+        /** Turns left.
+         *  @param speed The speed, from 0.0 to 1.0 at which to spin the motor.
+         */
+        void turn_left(float speed);
+        
+        /** Turns right.
+         *  @param speed The speed, from 0.0 to 1.0 at which to spin the motor.
+         */
+        void turn_right(float speed);
+                
+        /** Stop a chosen motor.
+         *  @param motor Number, either 1 or 2 choosing the motor.
+         */
+        void stop(int motor);
+        
+        /** Stop left motor.
+         */
+        void stopLeft();
+        
+        /** Stop right motor.
+         */
+        void stopRight();
+        
+        /** Stop both motors at the same time. Different to disable.
+         */
+        void stopAll();
+                        
+        /** Gives an indication of the data given by the reflectivity sensors.
+         */
+        //float position();
+        
+    private:
+        PwmOut m1pwm;
+        PwmOut m2pwm;
+        DigitalOut m1dir;        
+        DigitalOut m2dir;
+        /*
+        AnalogIn a0sens;
+        AnalogIn a1sens;
+        AnalogIn a2sens;
+        AnalogIn a3sens;
+        AnalogIn a4sens;
+        AnalogIn a5sens;
+        */
+};