Soft robot team / Mbed OS Robot_team1

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Dependencies:   QEI Motordriver ros_lib_melodic

motor/Motor.cpp@11:35809512ec11, 2019-11-13 (annotated)

Committer:
florine_van
Date:
Wed Nov 13 15:59:06 2019 +0000
Revision:
11:35809512ec11
Parent:
6:858a5116688e
Child:
12:817da876ae2f
Implement QEI and distance moving

Who changed what in which revision?

UserRevisionLine numberNew contents of line
florine_van 6:858a5116688e 1 #include "mbed.h"
florine_van 6:858a5116688e 2
florine_van 5:8ef79eebbc97 3 #include "Motor.h"
florine_van 11:35809512ec11 4 #include "QEI.h"
florine_van 5:8ef79eebbc97 5
florine_van 5:8ef79eebbc97 6 ///////////////////////////////////////////////////////////////////
florine_van 5:8ef79eebbc97 7 // Constructor
florine_van 5:8ef79eebbc97 8 ///////////////////////////////////////////////////////////////////
florine_van 11:35809512ec11 9 Motor::Motor(PinName in1, PinName in2, PinName pwm, QEI wheel)
florine_van 11:35809512ec11 10 : in1(in1), in2(in2), pwm(pwm), wheel(wheel)
florine_van 6:858a5116688e 11 {
florine_van 6:858a5116688e 12 this->pwm.period_ms(10);
florine_van 6:858a5116688e 13 }
florine_van 5:8ef79eebbc97 14
florine_van 5:8ef79eebbc97 15 ///////////////////////////////////////////////////////////////////
florine_van 5:8ef79eebbc97 16 // Public methods
florine_van 5:8ef79eebbc97 17 ///////////////////////////////////////////////////////////////////
florine_van 5:8ef79eebbc97 18
florine_van 11:35809512ec11 19 void Motor::moveForward(int pulse)
florine_van 5:8ef79eebbc97 20 {
florine_van 11:35809512ec11 21 moveDistance(-0.5, pulse, 1);
florine_van 5:8ef79eebbc97 22 }
florine_van 5:8ef79eebbc97 23
florine_van 11:35809512ec11 24 void Motor::moveBackward(int pulse)
florine_van 11:35809512ec11 25 {
florine_van 11:35809512ec11 26 moveDistance(0.5, pulse, -1);
florine_van 11:35809512ec11 27 }
florine_van 11:35809512ec11 28
florine_van 11:35809512ec11 29 void Motor::moveLeft(float speed)
florine_van 11:35809512ec11 30 {
florine_van 11:35809512ec11 31 moveDistance(speed, 3000, -1);
florine_van 11:35809512ec11 32 }
florine_van 11:35809512ec11 33
florine_van 11:35809512ec11 34 void Motor::moveRight(float speed)
florine_van 11:35809512ec11 35 {
florine_van 11:35809512ec11 36 moveDistance(speed, 3000, 1);
florine_van 5:8ef79eebbc97 37 }
florine_van 5:8ef79eebbc97 38
florine_van 6:858a5116688e 39 void Motor::setSpeed(float speed)
florine_van 5:8ef79eebbc97 40 {
florine_van 6:858a5116688e 41 pwm.write(speed);
florine_van 5:8ef79eebbc97 42 }
florine_van 11:35809512ec11 43
florine_van 11:35809512ec11 44 void Motor::moveDistance(float speed, int pulse, int pulse_direction)
florine_van 11:35809512ec11 45 {
florine_van 11:35809512ec11 46 // Variables to allow for any pulse reading
florine_van 11:35809512ec11 47 float initial_pulse_reading = wheel.getPulses();
florine_van 11:35809512ec11 48 float current_pulse_reading = wheel.getPulses();
florine_van 11:35809512ec11 49
florine_van 11:35809512ec11 50 // - is forward on our robot
florine_van 11:35809512ec11 51 setSpeed(speed);
florine_van 11:35809512ec11 52
florine_van 11:35809512ec11 53 // loop for moving forward
florine_van 11:35809512ec11 54 if (pulse_direction > 0)
florine_van 11:35809512ec11 55 {
florine_van 11:35809512ec11 56 while(current_pulse_reading <= (initial_pulse_reading + pulse * pulse_direction))
florine_van 11:35809512ec11 57 {
florine_van 11:35809512ec11 58 current_pulse_reading = wheel.getPulses();
florine_van 11:35809512ec11 59 }
florine_van 11:35809512ec11 60 }
florine_van 11:35809512ec11 61 else
florine_van 11:35809512ec11 62 {
florine_van 11:35809512ec11 63 while(current_pulse_reading >= (initial_pulse_reading + pulse * pulse_direction))
florine_van 11:35809512ec11 64 {
florine_van 11:35809512ec11 65 current_pulse_reading = wheel.getPulses();
florine_van 11:35809512ec11 66 }
florine_van 11:35809512ec11 67 }
florine_van 11:35809512ec11 68
florine_van 11:35809512ec11 69 setSpeed(0);
florine_van 11:35809512ec11 70 }
florine_van 11:35809512ec11 71
florine_van 11:35809512ec11 72
florine_van 11:35809512ec11 73 void Motor::move(float speed)
florine_van 11:35809512ec11 74 {
florine_van 11:35809512ec11 75 // - is forward on our robot
florine_van 11:35809512ec11 76 setSpeed(speed);
florine_van 11:35809512ec11 77 }