Diff: DumpTruck.cpp

Revision:

10:cf77da9be0b8

Parent:

6:5cc6a9b6f60e

Child:

11:87f30625b213

--- a/DumpTruck.cpp	Tue Feb 14 14:46:37 2017 -0500
+++ b/DumpTruck.cpp	Tue Feb 28 21:11:48 2017 +0000
@@ -1,17 +1,48 @@
 #include "DumpTruck.h"
-/*#include "stdlib.h"
-#include "stdio.h"
-#include "string.h"*/
-
-//Serial pc(USBTX, USBRX);
 
 DumpTruck::DumpTruck(int truckId) : truckNumber(truckId) {
     truckNumber = truckId;
+    track = new Tracker(p29, p30, p15);
+    // PWM: 21, 22, 23
+    // DIR: 27, 28, 29
+    frontMotor = new Motor(p21, p27);
+    turnMotor = new Motor(p22, p28);
+    bedMotor = new Motor(p23, p29);
+    //bed = new IMU(@@@@@@@);
+    //nrf = new Transceiver(@@@@@@);
+    srf = new SRF05(p15, p16);
+    tooClose = false;
+}
+
+void DumpTruck::driveDistance(float speed, float distance) {
+    frontMotor->write(speed);
+}
+
+void DumpTruck::drive(float speed) {
+    frontMotor->write(speed);
 }
 
-PwmOut DrivePin(p24);
-DigitalOut DirPin(p30);
-float travelled;
+void DumpTruck::turn(float angle) {
+    return;
+}
+
+void DumpTruck::moveBed(bool raise, float angle) {
+    return;
+}
+
+void DumpTruck::stop() {
+    frontMotor->write(0.0f);
+}
+
+bool DumpTruck::detect() {
+    proximity = srf->read();
+    if(proximity < 100) {       //cm
+        tooClose = true;
+    } else {
+        tooClose = false;
+    }
+    return tooClose;
+}
 
 
 //void Calibrate(){}
@@ -30,7 +61,7 @@
 //    if (speed >= 0) {
 //    DirPin = 1;
 //    DrivePin = speed;
-//    } // else, go backwards at specified speed  
+//    } // else, go backwards at specified speed
 //    else {
 //    DirPin = 0;
 //    DrivePin = -1*speed;
@@ -44,8 +75,7 @@
 //    travelled = 0;
 //}
 
-
-void DumpTruck::drive() {
+/*void DumpTruck::drive() {
     // get desired distance and speed
      // placeholder
     // speed = 0.5;
@@ -57,7 +87,7 @@
     // insert while loop here which relates to distance travelled
     travelled = getDistance();
     //pc.printf("Check 1: %f, %f\r\n", distance, travelled);
-    while(travelled < distance) {    
+    while(travelled < distance) {
     //pc.printf("Check 2:\r\n");
     travelled = getDistance();
     pc.printf("Travelling...: %f\n\r", (distance - travelled));
@@ -65,7 +95,7 @@
     if (speed >= 0) {
     DirPin = 1;
     DrivePin = speed;
-    } // else, go backwards at specified speed  
+    } // else, go backwards at specified speed
     else {
     DirPin = 0;
     DrivePin = -1*speed;
@@ -89,13 +119,13 @@
     //input = input - 48;
     // returns value
     //return input;
-    
+
     char c;
-    char buffer[128];      
+    char buffer[128];
     pc.gets(buffer, 4);
     float input = strtod(buffer,NULL);
     return input;
-    
+
     }
 
 float DumpTruck::setTruckSpeed(){
@@ -110,8 +140,8 @@
 //      if (dir == 48) {
 //          mod = -1; }
 //          else {
-//          mod = 1; }    
-//          
+//          mod = 1; }
+//
 //      // terminal prompt for speed
 //      pc.printf("Please enter a truck speed from 0-9 or F for full speed:\r\n");
 //      // sets return value to given value
@@ -129,33 +159,33 @@
 //      input = input * (1/div);
 //      // returns value
 //      input = input * mod;
-      
-      
-    pc.printf("Enter a speed from -10 to +10:\r\n");  
+
+
+    pc.printf("Enter a speed from -10 to +10:\r\n");
     char c;
-    char buffer[128];      
+    char buffer[128];
     pc.gets(buffer, 4);
     float input = strtod(buffer,NULL);
-    
+
     while ((buffer[0] < 43) || (buffer[0] > 45)) {
         pc.printf("Invalid input. Please correct input and try again:\r\n");
         setTruckSpeed();
     }
-    
+
     pc.printf("buffer[0]: %d\r\n",buffer[0]);
     pc.printf("buffer[1]: %d\r\n",buffer[1]);
     pc.printf("buffer[2]: %d\r\n",buffer[2]);
     input = input / 10;
 
     return input;}
-    
-    
+
+
 void DumpTruck::stop(){
     pc.printf("Truck will now stop.\r\n");
     //stop motors
     DrivePin = 0;
     }
-    
+
 float DumpTruck::getDistance() {
     //while(1){
         pulseCount = (float) wheel.getPulses();
@@ -164,11 +194,11 @@
         //pc.printf("Inches travelled: %f\n\r", travelled);
         return travelled;
         //(pulse count / X * N) * (1 / PPI)
-        
+
     //}
-}    
+}*/
 
-//void DumpTruck::RotateTo() {  
+//void DumpTruck::RotateTo() {
 //    pc.printf("Desired Angle: ");
 //    DesiredPivotAngle = pc.getc();
 //    float CurrentPivotAngle =  getPivotAngle();
@@ -181,16 +211,10 @@
 //        }
 //    else
 //    {stop()}
-//    
-//}    
 //
-
-void DumpTruck::BedUp() 
-{
-}
-
-void DumpTruck::BedDown() 
-{
+//}
+//
+//void DumpTruck::BedDown() {
 //     SwitchState = bool GetBedUpperSwitch();
 //     if SwitchState
 //     {return 0;}
@@ -201,10 +225,7 @@
 //         //driveMotor
 //         }
 //         calibrate();
-}
-
-
-
+//    }
 //void DumpTruck::LowerBed() {
 //    SwitchState = bool GetLowerUpperSwitch();
 //     if SwitchState
@@ -218,10 +239,7 @@
 //         calibrate();
 //    }
 //}
-
-
-
-void DumpTruck::raiseTo(int angle) {
+//void DumpTruck::raiseTo(int angle) {
 //      pc.printf("Desired Angle: ");
 //    DesiredBedAngle = pc.getc();
 //    float CurrentBedAngle =  getBedAngle();
@@ -234,8 +252,7 @@
 //        }
 //    else
 //    {stop()}
-}
-
+//}
 //
 //float DumpTruck::getPivotAngle(){
 //    float input = AnalogIn(x);
@@ -256,7 +273,4 @@
 //    float input = AnalogIn(x); // data from potentiometer
 //    return input;
 //    }
-//  
-
-*/  
-
+//
\ No newline at end of file