Terrabots / Mbed 2 deprecated DUMP_TRUCK_SPR2017

Main repository for dump truck API development in Spring 2017

Dependencies:   Tracker mbed MotorV2 SRF05 nRF24L01P

Fork of DUMP_TRUCK_TEST_V1 by Terrabots

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If needed, please contact Milo Pan at mpan9@gatech.edu for rights and access to this repository.

DumpTruck.cpp@13:112b6543909a, 2017-04-13 (annotated)

Committer:
simplyellow
Date:
Thu Apr 13 17:32:44 2017 +0000
Revision:
13:112b6543909a
Parent:
12:502cf4fc6d98
Child:
14:fd6090cddc2e
.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Josahty 0:6942f0e2198c 1 #include "DumpTruck.h"
Josahty 0:6942f0e2198c 2
simplyellow 13:112b6543909a 3
Josahty 0:6942f0e2198c 4 DumpTruck::DumpTruck(int truckId) : truckNumber(truckId) {
Josahty 0:6942f0e2198c 5 truckNumber = truckId;
simplyellow 11:87f30625b213 6 //track = new Tracker(p29, p30, p15);
simplyellow 10:cf77da9be0b8 7 // PWM: 21, 22, 23
simplyellow 10:cf77da9be0b8 8 // DIR: 27, 28, 29
simplyellow 11:87f30625b213 9 frontMotor = new Motor(p23, p28);
simplyellow 13:112b6543909a 10 turnMotor = new Motor(p22, p29);
simplyellow 13:112b6543909a 11 bedMotor = new Motor(p23, p28);
simplyellow 10:cf77da9be0b8 12 //bed = new IMU(@@@@@@@);
simplyellow 11:87f30625b213 13 srf = new SRF05(p15, p16); //trigger, echo.
simplyellow 10:cf77da9be0b8 14 tooClose = false;
simplyellow 13:112b6543909a 15
simplyellow 12:502cf4fc6d98 16 nrf = new nRF24L01P(p5, p6, p7, p8, p9, p10); // transceiver
simplyellow 12:502cf4fc6d98 17 //transceiver set up, similar to one on base station code
simplyellow 12:502cf4fc6d98 18 txDataCnt = 0;
simplyellow 12:502cf4fc6d98 19 rxDataCnt = 0;
simplyellow 13:112b6543909a 20 received = false;
simplyellow 13:112b6543909a 21
simplyellow 13:112b6543909a 22 void (*commands[2]);
simplyellow 13:112b6543909a 23 commands[0] = DumpTruck::stopBed;
simplyellow 13:112b6543909a 24 commands[1] = DumpTruck::stopDrive;
simplyellow 12:502cf4fc6d98 25 }
simplyellow 12:502cf4fc6d98 26
simplyellow 12:502cf4fc6d98 27 void DumpTruck::startComms() {
simplyellow 12:502cf4fc6d98 28 nrf->powerUp();
simplyellow 12:502cf4fc6d98 29 printf( "nRF24L01+ Frequency : %d MHz\r\n", nrf->getRfFrequency() );
simplyellow 12:502cf4fc6d98 30 printf( "nRF24L01+ Output power : %d dBm\r\n", nrf->getRfOutputPower() );
simplyellow 12:502cf4fc6d98 31 printf( "nRF24L01+ Data Rate : %d kbps\r\n", nrf->getAirDataRate() );
simplyellow 12:502cf4fc6d98 32 printf( "nRF24L01+ TX Address : 0x%010llX\r\n", nrf->getTxAddress() );
simplyellow 12:502cf4fc6d98 33 printf( "nRF24L01+ RX Address : 0x%010llX\r\n", nrf->getRxAddress() );
simplyellow 12:502cf4fc6d98 34 nrf->setTransferSize( TRANSFER_SIZE );
simplyellow 12:502cf4fc6d98 35 nrf->setReceiveMode();
simplyellow 12:502cf4fc6d98 36 nrf->enable();
simplyellow 13:112b6543909a 37
simplyellow 13:112b6543909a 38 // fill acked array
simplyellow 13:112b6543909a 39 for(int i = 0; i < TRANSFER_SIZE; i++) {
simplyellow 13:112b6543909a 40 acked[i] = '0';
simplyellow 13:112b6543909a 41 nacked[i] = '1';
simplyellow 13:112b6543909a 42 }
simplyellow 13:112b6543909a 43 }
simplyellow 13:112b6543909a 44
simplyellow 13:112b6543909a 45 void DumpTruck::sendAck() {
simplyellow 13:112b6543909a 46 printf("SEND acked\n\r");
simplyellow 13:112b6543909a 47 wait(1);
simplyellow 13:112b6543909a 48 nrf->write(NRF24L01P_PIPE_P0, acked, TRANSFER_SIZE);
simplyellow 13:112b6543909a 49 printf("SENT\n\r");
simplyellow 13:112b6543909a 50 }
simplyellow 13:112b6543909a 51
simplyellow 13:112b6543909a 52 void DumpTruck::sendNack() {
simplyellow 13:112b6543909a 53 printf("SEND nacked\n\r");
simplyellow 13:112b6543909a 54 wait(1);
simplyellow 13:112b6543909a 55 nrf->write(NRF24L01P_PIPE_P0, nacked, TRANSFER_SIZE);
simplyellow 13:112b6543909a 56 printf("SENT\n\r");
simplyellow 12:502cf4fc6d98 57 }
simplyellow 12:502cf4fc6d98 58
simplyellow 12:502cf4fc6d98 59 void DumpTruck::getCommand() {
simplyellow 12:502cf4fc6d98 60 //called at the end of each executable command
simplyellow 12:502cf4fc6d98 61 //dump truck transceiver sends a code to base station, opening the channel
simplyellow 13:112b6543909a 62 //code is all 0's
simplyellow 13:112b6543909a 63 received = false;
simplyellow 13:112b6543909a 64 //acked to receive command
simplyellow 13:112b6543909a 65 sendAck();
simplyellow 13:112b6543909a 66 //possibly implement kill switch/stop current action
simplyellow 12:502cf4fc6d98 67 //code for receiving
simplyellow 12:502cf4fc6d98 68 while(!received) {
simplyellow 13:112b6543909a 69 if (nrf->readable()) {
simplyellow 13:112b6543909a 70 // ...read the data into the receive buffer
simplyellow 12:502cf4fc6d98 71 rxDataCnt = nrf->read(NRF24L01P_PIPE_P0, rxData, sizeof(rxData));
simplyellow 13:112b6543909a 72 received = true; //after receiving command
simplyellow 13:112b6543909a 73 printf("received command\n\r");
simplyellow 13:112b6543909a 74 processCommand();
simplyellow 13:112b6543909a 75 }
simplyellow 13:112b6543909a 76 }
simplyellow 13:112b6543909a 77 }
simplyellow 12:502cf4fc6d98 78
simplyellow 13:112b6543909a 79 void DumpTruck::processCommand() {
simplyellow 13:112b6543909a 80 //strcmp(rxData,"on")==0
simplyellow 13:112b6543909a 81 //perhaps have an array of all commands..??
simplyellow 13:112b6543909a 82 //maybe commands.h is just the array
simplyellow 13:112b6543909a 83 //and the "on" becomes commands[k]?
simplyellow 13:112b6543909a 84 // real time driving
simplyellow 13:112b6543909a 85 switch(rxData) {
simplyellow 13:112b6543909a 86 case 1:
simplyellow 13:112b6543909a 87 sendAck();
simplyellow 13:112b6543909a 88 printf("ack\n\r");
simplyellow 13:112b6543909a 89 break;
simplyellow 13:112b6543909a 90 default:
simplyellow 13:112b6543909a 91 sendNack();
simplyellow 13:112b6543909a 92 printf("nack\n\r");
simplyellow 13:112b6543909a 93 break;
simplyellow 12:502cf4fc6d98 94 }
simplyellow 13:112b6543909a 95 getCommand();
simplyellow 12:502cf4fc6d98 96 }
simplyellow 12:502cf4fc6d98 97
simplyellow 12:502cf4fc6d98 98 void DumpTruck::reportData() {
simplyellow 12:502cf4fc6d98 99 //should run last in main thread
simplyellow 10:cf77da9be0b8 100 }
simplyellow 10:cf77da9be0b8 101
simplyellow 10:cf77da9be0b8 102 void DumpTruck::driveDistance(float speed, float distance) {
simplyellow 10:cf77da9be0b8 103 frontMotor->write(speed);
simplyellow 13:112b6543909a 104 getCommand();
simplyellow 10:cf77da9be0b8 105 }
simplyellow 10:cf77da9be0b8 106
simplyellow 10:cf77da9be0b8 107 void DumpTruck::drive(float speed) {
simplyellow 10:cf77da9be0b8 108 frontMotor->write(speed);
simplyellow 13:112b6543909a 109 getCommand();
Josahty 0:6942f0e2198c 110 }
Josahty 0:6942f0e2198c 111
simplyellow 10:cf77da9be0b8 112 void DumpTruck::turn(float angle) {
simplyellow 13:112b6543909a 113 getCommand();
simplyellow 10:cf77da9be0b8 114 return;
simplyellow 10:cf77da9be0b8 115 }
simplyellow 10:cf77da9be0b8 116
simplyellow 10:cf77da9be0b8 117 void DumpTruck::moveBed(bool raise, float angle) {
simplyellow 13:112b6543909a 118 getCommand();
simplyellow 10:cf77da9be0b8 119 return;
simplyellow 10:cf77da9be0b8 120 }
simplyellow 10:cf77da9be0b8 121
simplyellow 13:112b6543909a 122 void DumpTruck::stopDrive() {
simplyellow 11:87f30625b213 123 frontMotor->write(0);
simplyellow 13:112b6543909a 124 getCommand();
simplyellow 13:112b6543909a 125 }
simplyellow 13:112b6543909a 126
simplyellow 13:112b6543909a 127 void DumpTruck::stopTurn() {
simplyellow 13:112b6543909a 128 turnMotor->write(0);
simplyellow 13:112b6543909a 129 getCommand();
simplyellow 13:112b6543909a 130 }
simplyellow 13:112b6543909a 131
simplyellow 13:112b6543909a 132 void DumpTruck::stopBed() {
simplyellow 13:112b6543909a 133 bedMotor->write(0);
simplyellow 13:112b6543909a 134 getCommand();
simplyellow 10:cf77da9be0b8 135 }
simplyellow 10:cf77da9be0b8 136
simplyellow 10:cf77da9be0b8 137 bool DumpTruck::detect() {
simplyellow 10:cf77da9be0b8 138 proximity = srf->read();
simplyellow 11:87f30625b213 139 if(proximity < 20) { //cm
simplyellow 10:cf77da9be0b8 140 tooClose = true;
simplyellow 10:cf77da9be0b8 141 } else {
simplyellow 10:cf77da9be0b8 142 tooClose = false;
simplyellow 10:cf77da9be0b8 143 }
simplyellow 10:cf77da9be0b8 144 return tooClose;
simplyellow 10:cf77da9be0b8 145 }
Josahty 0:6942f0e2198c 146
Josahty 0:6942f0e2198c 147
Josahty 3:cd6e2d7c7c9c 148 //void Calibrate(){}
Josahty 3:cd6e2d7c7c9c 149
Josahty 3:cd6e2d7c7c9c 150 //void DumpTruck::drive() {
Josahty 3:cd6e2d7c7c9c 151 // // get desired distance and speed
Josahty 3:cd6e2d7c7c9c 152 // distance = 0; // placeholder
Josahty 3:cd6e2d7c7c9c 153 // // speed = 0.5;
Josahty 3:cd6e2d7c7c9c 154 // // distance = setTruckDistance();
Josahty 3:cd6e2d7c7c9c 155 // speed = setTruckSpeed();
Josahty 3:cd6e2d7c7c9c 156 // // terminal confirmation of distance and speed
Josahty 3:cd6e2d7c7c9c 157 // pc.printf("Truck will drive a distance of %f at a speed of %f\r\n",distance,speed);
Josahty 3:cd6e2d7c7c9c 158 // // insert while loop here which relates to distance travelled
Josahty 3:cd6e2d7c7c9c 159 // while(1) {
Josahty 3:cd6e2d7c7c9c 160 // // if the speed is greater than zero, go forward at specified speed
Josahty 3:cd6e2d7c7c9c 161 // if (speed >= 0) {
Josahty 3:cd6e2d7c7c9c 162 // DirPin = 1;
Josahty 3:cd6e2d7c7c9c 163 // DrivePin = speed;
simplyellow 10:cf77da9be0b8 164 // } // else, go backwards at specified speed
Josahty 3:cd6e2d7c7c9c 165 // else {
Josahty 3:cd6e2d7c7c9c 166 // DirPin = 0;
Josahty 3:cd6e2d7c7c9c 167 // DrivePin = -1*speed;
Josahty 3:cd6e2d7c7c9c 168 // }
Josahty 3:cd6e2d7c7c9c 169 // }
Josahty 3:cd6e2d7c7c9c 170 // // stop motors
Josahty 3:cd6e2d7c7c9c 171 // // stop();
Josahty 3:cd6e2d7c7c9c 172 // // calibrate motors
Josahty 3:cd6e2d7c7c9c 173 // Calibrate();
Josahty 3:cd6e2d7c7c9c 174 // //
Josahty 3:cd6e2d7c7c9c 175 // travelled = 0;
Josahty 3:cd6e2d7c7c9c 176 //}
Josahty 3:cd6e2d7c7c9c 177
simplyellow 10:cf77da9be0b8 178 /*void DumpTruck::drive() {
Josahty 0:6942f0e2198c 179 // get desired distance and speed
Josahty 3:cd6e2d7c7c9c 180 // placeholder
Josahty 0:6942f0e2198c 181 // speed = 0.5;
Josahty 3:cd6e2d7c7c9c 182 //distance = 5.0;
Josahty 3:cd6e2d7c7c9c 183 distance = setTruckDistance();
Josahty 0:6942f0e2198c 184 speed = setTruckSpeed();
Josahty 0:6942f0e2198c 185 // terminal confirmation of distance and speed
Josahty 3:cd6e2d7c7c9c 186 pc.printf("Truck will drive a distance of %f inches at a speed of %f\r\n",distance,speed);
Josahty 0:6942f0e2198c 187 // insert while loop here which relates to distance travelled
Josahty 3:cd6e2d7c7c9c 188 travelled = getDistance();
Josahty 3:cd6e2d7c7c9c 189 //pc.printf("Check 1: %f, %f\r\n", distance, travelled);
simplyellow 10:cf77da9be0b8 190 while(travelled < distance) {
Josahty 3:cd6e2d7c7c9c 191 //pc.printf("Check 2:\r\n");
Josahty 3:cd6e2d7c7c9c 192 travelled = getDistance();
Josahty 3:cd6e2d7c7c9c 193 pc.printf("Travelling...: %f\n\r", (distance - travelled));
Josahty 0:6942f0e2198c 194 // if the speed is greater than zero, go forward at specified speed
Josahty 0:6942f0e2198c 195 if (speed >= 0) {
Josahty 0:6942f0e2198c 196 DirPin = 1;
Josahty 0:6942f0e2198c 197 DrivePin = speed;
simplyellow 10:cf77da9be0b8 198 } // else, go backwards at specified speed
Josahty 0:6942f0e2198c 199 else {
Josahty 0:6942f0e2198c 200 DirPin = 0;
Josahty 2:7811df5a6052 201 DrivePin = -1*speed;
Josahty 3:cd6e2d7c7c9c 202 }
Josahty 0:6942f0e2198c 203 }
Josahty 3:cd6e2d7c7c9c 204 //pc.printf("Check 3:\r\n");
Josahty 0:6942f0e2198c 205 // stop motors
Josahty 0:6942f0e2198c 206 // stop();
Josahty 0:6942f0e2198c 207 // calibrate motors
Josahty 3:cd6e2d7c7c9c 208 //Calibrate();
Josahty 0:6942f0e2198c 209 }
Josahty 0:6942f0e2198c 210
Josahty 3:cd6e2d7c7c9c 211
Josahty 3:cd6e2d7c7c9c 212
Josahty 3:cd6e2d7c7c9c 213
Josahty 3:cd6e2d7c7c9c 214 float DumpTruck::setTruckDistance(){
Josahty 3:cd6e2d7c7c9c 215 // terminal prompt for distance
Josahty 3:cd6e2d7c7c9c 216 pc.printf("Please enter the truck distance:\r\n");
Josahty 3:cd6e2d7c7c9c 217 // sets return value to given value
Josahty 4:2f1a0f628875 218 //float input = pc.getc();
Josahty 4:2f1a0f628875 219 //input = input - 48;
Josahty 3:cd6e2d7c7c9c 220 // returns value
Josahty 4:2f1a0f628875 221 //return input;
simplyellow 10:cf77da9be0b8 222
Josahty 4:2f1a0f628875 223 char c;
simplyellow 10:cf77da9be0b8 224 char buffer[128];
Josahty 4:2f1a0f628875 225 pc.gets(buffer, 4);
Josahty 4:2f1a0f628875 226 float input = strtod(buffer,NULL);
Josahty 3:cd6e2d7c7c9c 227 return input;
simplyellow 10:cf77da9be0b8 228
Josahty 3:cd6e2d7c7c9c 229 }
Josahty 3:cd6e2d7c7c9c 230
Josahty 0:6942f0e2198c 231 float DumpTruck::setTruckSpeed(){
Josahty 4:2f1a0f628875 232 // float mod = 0;
Josahty 4:2f1a0f628875 233 // float div = 10;
Josahty 4:2f1a0f628875 234 // pc.printf("Enter a direction - 1 = forward, 0 = backward:\r\n");
Josahty 4:2f1a0f628875 235 // float dir = pc.getc();
Josahty 4:2f1a0f628875 236 // while ((dir<48)||(dir>49)){
Josahty 4:2f1a0f628875 237 // pc.printf("Invalid input. Please enter a valid direction, 1 or 0: \r\n");
Josahty 4:2f1a0f628875 238 // dir = pc.getc();
Josahty 4:2f1a0f628875 239 // }
Josahty 4:2f1a0f628875 240 // if (dir == 48) {
Josahty 4:2f1a0f628875 241 // mod = -1; }
Josahty 4:2f1a0f628875 242 // else {
simplyellow 10:cf77da9be0b8 243 // mod = 1; }
simplyellow 10:cf77da9be0b8 244 //
Josahty 4:2f1a0f628875 245 // // terminal prompt for speed
Josahty 4:2f1a0f628875 246 // pc.printf("Please enter a truck speed from 0-9 or F for full speed:\r\n");
Josahty 4:2f1a0f628875 247 // // sets return value to given value
Josahty 4:2f1a0f628875 248 // float input = pc.getc();
Josahty 4:2f1a0f628875 249 // while ((input<48)||(input>57)){
Josahty 4:2f1a0f628875 250 // if((input == 70) || (input == 102)) {
Josahty 4:2f1a0f628875 251 // input = 1;
Josahty 4:2f1a0f628875 252 // input = input * mod;
Josahty 4:2f1a0f628875 253 // return input;
Josahty 4:2f1a0f628875 254 // }
Josahty 4:2f1a0f628875 255 // pc.printf("Invalid input. Please enter a valid speed from 0-9 or F: \r\n");
Josahty 4:2f1a0f628875 256 // input = pc.getc();
Josahty 4:2f1a0f628875 257 // }
Josahty 4:2f1a0f628875 258 // input = input - 48;
Josahty 4:2f1a0f628875 259 // input = input * (1/div);
Josahty 4:2f1a0f628875 260 // // returns value
Josahty 4:2f1a0f628875 261 // input = input * mod;
simplyellow 10:cf77da9be0b8 262
simplyellow 10:cf77da9be0b8 263
simplyellow 10:cf77da9be0b8 264 pc.printf("Enter a speed from -10 to +10:\r\n");
Josahty 4:2f1a0f628875 265 char c;
simplyellow 10:cf77da9be0b8 266 char buffer[128];
Josahty 4:2f1a0f628875 267 pc.gets(buffer, 4);
Josahty 4:2f1a0f628875 268 float input = strtod(buffer,NULL);
simplyellow 10:cf77da9be0b8 269
Josahty 4:2f1a0f628875 270 while ((buffer[0] < 43) || (buffer[0] > 45)) {
Josahty 4:2f1a0f628875 271 pc.printf("Invalid input. Please correct input and try again:\r\n");
Josahty 4:2f1a0f628875 272 setTruckSpeed();
Josahty 4:2f1a0f628875 273 }
simplyellow 10:cf77da9be0b8 274
Josahty 4:2f1a0f628875 275 pc.printf("buffer[0]: %d\r\n",buffer[0]);
Josahty 4:2f1a0f628875 276 pc.printf("buffer[1]: %d\r\n",buffer[1]);
Josahty 4:2f1a0f628875 277 pc.printf("buffer[2]: %d\r\n",buffer[2]);
Josahty 4:2f1a0f628875 278 input = input / 10;
Josahty 4:2f1a0f628875 279
Josahty 4:2f1a0f628875 280 return input;}
simplyellow 10:cf77da9be0b8 281
simplyellow 10:cf77da9be0b8 282
Josahty 0:6942f0e2198c 283 void DumpTruck::stop(){
Josahty 2:7811df5a6052 284 pc.printf("Truck will now stop.\r\n");
Josahty 0:6942f0e2198c 285 //stop motors
Josahty 0:6942f0e2198c 286 DrivePin = 0;
Josahty 0:6942f0e2198c 287 }
simplyellow 10:cf77da9be0b8 288
Josahty 3:cd6e2d7c7c9c 289 float DumpTruck::getDistance() {
Josahty 3:cd6e2d7c7c9c 290 //while(1){
Josahty 3:cd6e2d7c7c9c 291 pulseCount = (float) wheel.getPulses();
Josahty 3:cd6e2d7c7c9c 292 travelled = pulseCount*d/encoding/20/68;
Josahty 3:cd6e2d7c7c9c 293 wait(0.1);
Josahty 3:cd6e2d7c7c9c 294 //pc.printf("Inches travelled: %f\n\r", travelled);
Josahty 3:cd6e2d7c7c9c 295 return travelled;
Josahty 3:cd6e2d7c7c9c 296 //(pulse count / X * N) * (1 / PPI)
simplyellow 10:cf77da9be0b8 297
Josahty 3:cd6e2d7c7c9c 298 //}
simplyellow 10:cf77da9be0b8 299 }*/
Josahty 0:6942f0e2198c 300
simplyellow 10:cf77da9be0b8 301 //void DumpTruck::RotateTo() {
Josahty 0:6942f0e2198c 302 // pc.printf("Desired Angle: ");
Josahty 0:6942f0e2198c 303 // DesiredPivotAngle = pc.getc();
Josahty 0:6942f0e2198c 304 // float CurrentPivotAngle = getPivotAngle();
Josahty 0:6942f0e2198c 305 // Difference = DesiredPivotAngle-CurrentPivotAngle;
Josahty 0:6942f0e2198c 306 // if (Difference > limit)
Josahty 0:6942f0e2198c 307 // {
Josahty 0:6942f0e2198c 308 // PivotSpeed = setPivotSpeed();
Josahty 0:6942f0e2198c 309 // pc.printf("Rotating to %s /n", DesiredPivotAngle);
Josahty 0:6942f0e2198c 310 // //Drive Motors
Josahty 0:6942f0e2198c 311 // }
Josahty 0:6942f0e2198c 312 // else
Josahty 0:6942f0e2198c 313 // {stop()}
Josahty 0:6942f0e2198c 314 //
simplyellow 10:cf77da9be0b8 315 //}
simplyellow 10:cf77da9be0b8 316 //
simplyellow 10:cf77da9be0b8 317 //void DumpTruck::BedDown() {
Josahty 0:6942f0e2198c 318 // SwitchState = bool GetBedUpperSwitch();
Josahty 0:6942f0e2198c 319 // if SwitchState
Josahty 0:6942f0e2198c 320 // {return 0;}
Josahty 0:6942f0e2198c 321 // else
Josahty 0:6942f0e2198c 322 //
Josahty 0:6942f0e2198c 323 // while(SwitchState == 0)
Josahty 0:6942f0e2198c 324 // {
Josahty 0:6942f0e2198c 325 // //driveMotor
Josahty 0:6942f0e2198c 326 // }
Josahty 0:6942f0e2198c 327 // calibrate();
simplyellow 10:cf77da9be0b8 328 // }
Josahty 0:6942f0e2198c 329 //void DumpTruck::LowerBed() {
Josahty 0:6942f0e2198c 330 // SwitchState = bool GetLowerUpperSwitch();
Josahty 0:6942f0e2198c 331 // if SwitchState
Josahty 0:6942f0e2198c 332 // {return 0;}
Josahty 0:6942f0e2198c 333 // else
Josahty 0:6942f0e2198c 334 //
Josahty 0:6942f0e2198c 335 // while(SwitchState == 0)
Josahty 0:6942f0e2198c 336 // {
Josahty 0:6942f0e2198c 337 // //driveMotor
Josahty 0:6942f0e2198c 338 // }
Josahty 0:6942f0e2198c 339 // calibrate();
Josahty 0:6942f0e2198c 340 // }
Josahty 0:6942f0e2198c 341 //}
simplyellow 10:cf77da9be0b8 342 //void DumpTruck::raiseTo(int angle) {
Josahty 0:6942f0e2198c 343 // pc.printf("Desired Angle: ");
Josahty 0:6942f0e2198c 344 // DesiredBedAngle = pc.getc();
Josahty 0:6942f0e2198c 345 // float CurrentBedAngle = getBedAngle();
Josahty 0:6942f0e2198c 346 // Difference = DesiredBedAngle-CurrentBedAngle;
Josahty 0:6942f0e2198c 347 // if (Difference > limit)
Josahty 0:6942f0e2198c 348 // {
Josahty 0:6942f0e2198c 349 // BedSpeed = setBedSpeed();
Josahty 0:6942f0e2198c 350 // pc.printf("Rotating to %s /n", DesiredBedAngle);
Josahty 0:6942f0e2198c 351 // //Drive Motors
Josahty 0:6942f0e2198c 352 // }
Josahty 0:6942f0e2198c 353 // else
Josahty 0:6942f0e2198c 354 // {stop()}
simplyellow 10:cf77da9be0b8 355 //}
Josahty 0:6942f0e2198c 356 //
Josahty 0:6942f0e2198c 357 //float DumpTruck::getPivotAngle(){
Josahty 0:6942f0e2198c 358 // float input = AnalogIn(x);
Josahty 0:6942f0e2198c 359 // return input
Josahty 0:6942f0e2198c 360 // }
Josahty 0:6942f0e2198c 361 //float DumpTruck::setPivotSpeed(){
Josahty 0:6942f0e2198c 362 // pc.printf("Please enter the Pivot speed /n");
Josahty 0:6942f0e2198c 363 // float input = pc.getc();
Josahty 0:6942f0e2198c 364 // return input;
Josahty 0:6942f0e2198c 365 // }
Josahty 0:6942f0e2198c 366 //
Josahty 0:6942f0e2198c 367 //float DumpTruck::setBedSpeed(){
Josahty 0:6942f0e2198c 368 // pc.printf("Please enter the Bed speed /n");
Josahty 0:6942f0e2198c 369 // float input = pc.getc();
Josahty 0:6942f0e2198c 370 // return input;
Josahty 0:6942f0e2198c 371 // }
Josahty 0:6942f0e2198c 372 //float DumpTruck::getBedAngle(){
Josahty 0:6942f0e2198c 373 // float input = AnalogIn(x); // data from potentiometer
Josahty 0:6942f0e2198c 374 // return input;
Josahty 0:6942f0e2198c 375 // }
simplyellow 10:cf77da9be0b8 376 //