main.cpp

00001 /*
00002 Simple Routine for Nucleo Board for ROCO104 Buggy Motor Control and Microswitches
00003 Heavy edit from previous ROCO103PP code
00004 Motor Class can now be instansiated with all four pins needed to control the H Bridge
00005 with a member functions as follows
00006 
00007 Motor::Speed(float A, Float B) range -0.1 to +1.0 to give full reverse to full forward for A/B motors
00008 Motor::Stop()       STOP
00009 Motor::Fwd(float)   Forward but floating point number (range 0.0 to 1.0)
00010 Motor::Rev(float)   Reverse but floating point number (range 0.0 to 1.0)
00011 
00012 Plymouth University
00013 M.Simpson 31st October 2016
00014 Edited 03/02/2017
00015 Edited 06/12/2018
00016 */
00017 #include "mbed.h"
00018 #include "motor.h"
00019 #include "tunes.h"
00020 
00021 #define TIME_PERIOD 2             //Constant compiler Values here 2 equates to 2ms or 500Hz base Frequency
00022 #define DUTY 0.9                  //DUTY of 1.0=100%, 0.4=40% etc.,
00023 
00024 DigitalIn microswitch1(D4);       //Instance of the DigitalIn class called 'microswitch1'
00025 DigitalIn microswitch2(D3);       //Instance of the DigitalIn class called 'microswitch2'
00026 
00027 Motor Wheel(D13,D11,D9,D10);      //Instance of the Motor Class called 'Wheel' see motor.h and motor.cpp
00028 
00029 DigitalIn myButton(USER_BUTTON);  //USER_BUTTON is the Blue Button on the NUCLEO Board
00030 
00031 DigitalOut led(LED3);             //LED1 is the Green LED on the NUCLEO board
00032                                   //N.B. The RED LED is the POWER Indicator
00033                                   //and the Multicoloured LED indicates status of the ST-LINK Programming cycle
00034 
00035 Serial pc(USBTX,USBRX);           //Instance of the Serial class to enable much faster BAUD rates then standard 9600 i.e. 115200
00036                                   //This is Pseudo RS232 over USB the NUCLEO will appear as a COMx Port see device Manager on PC used
00037                                   //Use PuTTY to monitor check COMx and BAUD rate (115200)
00038 
00039 
00040 //Variable 'duty' for programmer to use to vary speed as required set here to #define compiler constant see above
00041 float duty=DUTY;
00042 //
00043 int main ()
00044 {
00045   pc.baud(9600);               //BAUD Rate to 9600
00046   pc.printf("ROCO104 Demonstration Robot Buggy Plymouth University 2018/19\n\r");
00047 
00048   Wheel.Period_in_ms(TIME_PERIOD);//Set frequency of the PWMs
00049 
00050   //
00051   //--------------------------- your strategy goes between the two dashed lines ---------------------------------------------   
00052   //
00053     Wheel.Stop();
00054     
00055     close_encounter(1);     //tune to play Announce start!
00056     //twinkle(1);           //see tunes.h for alternatives or make your own!
00057     //jingle_bells(1);
00058 
00059     while(myButton==0)
00060     {                       //Wait here for USER Button (Blue) on Nucleo Board (goes to zero when pressed)
00061         led=0;              //and flash green LED whilst waiting
00062         wait(0.1);
00063         led=1; 
00064         wait(0.1);
00065         //Test Microswitches with two different tones see tunes.cpp tunes.h or flash (led1 and led2) onboard LEDs
00066  
00067     }
00068   
00069     while(true)                             //Repeat the following forever NB always true!
00070     {
00071 // YOUR LINES OF CODE for your stratagy go between HERE! +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00072 // Remember to use plenty of comments by using:-
00073 
00074 // Single line
00075 
00076 /*
00077 multiple
00078 lines
00079 */
00080 
00081 
00082 
00083 
00084 // and HERE! +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00085     } // go back to start of while loop
00086 }  //end of int main()
00087 
00088 
00089 
00090 /*
00091 //Consider these lines of code to Accelerate the motors
00092       for (float i=0.5f; i<=1.0f; i+=0.01f) //Accelerate  from 50% to 100%
00093       { 
00094         Wheel.Speed(i,i);
00095         wait(0.1f);
00096       }
00097 */