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.h@8:9c94865bd087, 2017-02-14 (annotated)

Committer:
pvela
Date:
Tue Feb 14 14:46:37 2017 -0500
Revision:
8:9c94865bd087
Parent:
7:dd3a7dcc5c84
Child:
10:cf77da9be0b8
Text edt.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pvela 6:5cc6a9b6f60e 1 /**
pvela 6:5cc6a9b6f60e 2 * @file DumpTruck.h
pvela 6:5cc6a9b6f60e 3 *
pvela 6:5cc6a9b6f60e 4 * @brief DumpTruck class implements API for commanding the dump truck and
pvela 6:5cc6a9b6f60e 5 * for implementing proprioceptive sensing.
pvela 6:5cc6a9b6f60e 6 *
pvela 6:5cc6a9b6f60e 7 * @author Terrabots Team
pvela 6:5cc6a9b6f60e 8 *
pvela 6:5cc6a9b6f60e 9 */
pvela 6:5cc6a9b6f60e 10
pvela 6:5cc6a9b6f60e 11
Josahty 0:6942f0e2198c 12 #ifndef MBED_DUMP_TRUCK_H
Josahty 0:6942f0e2198c 13 #define MBED_DUMP_TRUCK_H
Josahty 0:6942f0e2198c 14
Josahty 0:6942f0e2198c 15 #include "mbed.h"
Josahty 0:6942f0e2198c 16
pvela 7:dd3a7dcc5c84 17 /**
pvela 7:dd3a7dcc5c84 18 * @class DumpTruck
pvela 7:dd3a7dcc5c84 19 *
pvela 8:9c94865bd087 20 * @brief Interface for controlling a Dump Truck configured "robot."
pvela 7:dd3a7dcc5c84 21 */
Josahty 0:6942f0e2198c 22 class DumpTruck {
Josahty 0:6942f0e2198c 23 public:
pvela 6:5cc6a9b6f60e 24
pvela 6:5cc6a9b6f60e 25 /**
pvela 6:5cc6a9b6f60e 26 * Constructor for the DumpTruck object.
pvela 6:5cc6a9b6f60e 27 *
pvela 6:5cc6a9b6f60e 28 * @param[in] truckId Not sure.
pvela 6:5cc6a9b6f60e 29 */
Josahty 0:6942f0e2198c 30 DumpTruck(int truckId);
pvela 6:5cc6a9b6f60e 31
pvela 6:5cc6a9b6f60e 32 /**
pvela 6:5cc6a9b6f60e 33 * Command the dump truck to drive with a desired sped for a specified
pvela 6:5cc6a9b6f60e 34 * distance.
pvela 6:5cc6a9b6f60e 35 *
pvela 6:5cc6a9b6f60e 36 * @param[in] mSpeed The desired motor speed.
pvela 6:5cc6a9b6f60e 37 * @param[in] dDist The desired driver distance.
pvela 6:5cc6a9b6f60e 38 */
Josahty 0:6942f0e2198c 39 void drive(); // Drive DC motors with a desired motor speed and distance
pvela 6:5cc6a9b6f60e 40
pvela 6:5cc6a9b6f60e 41 /**
pvela 6:5cc6a9b6f60e 42 * Command the dump truck to stop.
pvela 6:5cc6a9b6f60e 43 *
pvela 6:5cc6a9b6f60e 44 */
Josahty 0:6942f0e2198c 45 void stop();
pvela 6:5cc6a9b6f60e 46
pvela 6:5cc6a9b6f60e 47 /**
pvela 6:5cc6a9b6f60e 48 * Perform calibration routine. It will ... FILL OUT
pvela 6:5cc6a9b6f60e 49 *
pvela 6:5cc6a9b6f60e 50 */
Josahty 0:6942f0e2198c 51 void Calibrate();
pvela 6:5cc6a9b6f60e 52
pvela 6:5cc6a9b6f60e 53 /**
pvela 6:5cc6a9b6f60e 54 * WHAT IS THIS ABOUT?
pvela 6:5cc6a9b6f60e 55 *
pvela 6:5cc6a9b6f60e 56 */
Josahty 0:6942f0e2198c 57 //void RotateTo();
pvela 6:5cc6a9b6f60e 58
pvela 6:5cc6a9b6f60e 59 /**
pvela 6:5cc6a9b6f60e 60 * Move the bed to the fully down position. The down switch should
pvela 6:5cc6a9b6f60e 61 * engage.
pvela 6:5cc6a9b6f60e 62 *
pvela 6:5cc6a9b6f60e 63 */
pvela 6:5cc6a9b6f60e 64 void BedDown();
pvela 6:5cc6a9b6f60e 65
pvela 6:5cc6a9b6f60e 66 /**
pvela 6:5cc6a9b6f60e 67 * Move the bed to the fully up position. The up switch should
pvela 6:5cc6a9b6f60e 68 * engage.
pvela 6:5cc6a9b6f60e 69 *
pvela 6:5cc6a9b6f60e 70 */
pvela 6:5cc6a9b6f60e 71 void BedUp();
pvela 6:5cc6a9b6f60e 72
pvela 6:5cc6a9b6f60e 73 /**
pvela 6:5cc6a9b6f60e 74 * Raise the bed to the desired angle. Only effective if the bed angle
pvela 6:5cc6a9b6f60e 75 * estimate has been zeroed out.
pvela 6:5cc6a9b6f60e 76 *
pvela 6:5cc6a9b6f60e 77 */
Josahty 0:6942f0e2198c 78 //void raiseTo();
pvela 6:5cc6a9b6f60e 79
pvela 6:5cc6a9b6f60e 80
pvela 6:5cc6a9b6f60e 81 /**
pvela 6:5cc6a9b6f60e 82 * NOT SURE. HOW DIFFERENT FROM ABOVE? raiseTo should raise to any
pvela 6:5cc6a9b6f60e 83 * arbitrary angle within limits.
pvela 6:5cc6a9b6f60e 84 *
pvela 6:5cc6a9b6f60e 85 */
Josahty 0:6942f0e2198c 86 //void LowerBed();
Josahty 3:cd6e2d7c7c9c 87
Josahty 0:6942f0e2198c 88
Josahty 0:6942f0e2198c 89 protected:
Josahty 0:6942f0e2198c 90 int truckNumber;
Josahty 0:6942f0e2198c 91 float speed; // desired speed to drive the robot, a number between -1 and 1
Josahty 3:cd6e2d7c7c9c 92 float distance;
Josahty 3:cd6e2d7c7c9c 93 float getDistance(); // input of desired distance to be traveled
Josahty 0:6942f0e2198c 94 float setTruckSpeed(); // set truck speed
Josahty 0:6942f0e2198c 95 float setTruckDistance(); // set distance to be traveled
Josahty 0:6942f0e2198c 96 //getBedAngle(); //Get data from Bed potentiometer, Hari is looking into the component for this
Josahty 0:6942f0e2198c 97 //getPivotAngle(double PivotAngle); //Get data from potentiometer
Josahty 0:6942f0e2198c 98 //SetPivotSpeed(double PivotSpeed); //Set arbitrary rotation of servo motor
Josahty 0:6942f0e2198c 99 //SetBedSpeed(); //Set arbitrary rotation of DC Motor
Josahty 0:6942f0e2198c 100 //bool GetBedUpperSwitch(); //Checks if bed is all the way up
Josahty 0:6942f0e2198c 101 //bool GetBedLowerSwitch(); //Checks if bed is all the way down
Josahty 0:6942f0e2198c 102 //bool SwitchState; //Switch state variable for Up and down bed functions
Josahty 0:6942f0e2198c 103 //float DesiredPivotAngle; // User Input of desired angle for the bed to be pivoted
Josahty 0:6942f0e2198c 104 //float DesiredBedAngle; //User Input of desired bed angle to be raised.
Josahty 0:6942f0e2198c 105 //float BedSpeed; //User input of desired speed for the dump truck's bed to rotate
Josahty 0:6942f0e2198c 106 //float PivotSpeed; //User input of desired speed for the dump truck to pivot its back at
Josahty 0:6942f0e2198c 107
Josahty 0:6942f0e2198c 108 //bool isCalibrated;// returns 0 and 1 to check if the robot has been calibrated
Josahty 0:6942f0e2198c 109 };
simplyellow 5:dc4cf6cc24b3 110 #endif