Revision 0:6942f0e2198c, committed 2016-11-01

Comitter:

Josahty

Date:

Tue Nov 01 20:13:57 2016 +0000

Child:

1:90b640c90506

Commit message:

DUMP_TRUCK V4 with commented areas

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/DumpTruck.cpp	Tue Nov 01 20:13:57 2016 +0000
@@ -0,0 +1,153 @@
+#include "DumpTruck.h"
+#include "stdlib.h"
+
+Serial pc(USBTX, USBRX);
+
+DumpTruck::DumpTruck(int truckId) : truckNumber(truckId) {
+    truckNumber = truckId;
+}
+
+PwmOut DrivePin(p24);
+DigitalOut DirPin(p30);
+int i;
+
+
+void Calibrate(){}
+
+void DumpTruck::drive() {
+    // get desired distance and speed
+    distance = 0; // placeholder
+    // speed = 0.5;
+    // distance = setTruckDistance();
+    speed = setTruckSpeed();
+    // terminal confirmation of distance and speed
+    pc.printf("Truck will drive a distance of %f at a speed of %f\r\n",distance,speed);
+    // insert while loop here which relates to distance travelled
+    while(1) {
+    // if the speed is greater than zero, go forward at specified speed
+    if (speed >= 0) {
+    DirPin = 1;
+    DrivePin = speed;
+    } // else, go backwards at specified speed  
+    else {
+    DirPin = 0;
+    DrivePin = -1 * speed;
+    }
+    }
+    // stop motors
+    // stop();
+    // calibrate motors
+    Calibrate();
+    //
+    i = 0;
+}
+
+//float DumpTruck::setTruckDistance(){
+//    // terminal prompt for distance
+//    pc.printf("Please enter the truck distance:");
+//    // sets return value to given value
+//    float input = pc.getc();
+//    // returns value
+//    return input;
+//    }
+//
+float DumpTruck::setTruckSpeed(){
+    
+      float div = 10;
+      // terminal prompt for speed
+      pc.printf("Please enter the truck speed: \n");
+      // sets return value to given value
+      float input = pc.getc();
+      while ((input<48)&&(input>57)){
+          pc.printf("Fix your input sir: \r\n");
+          float input = pc.getc();
+          }
+      input = input - 48;
+      input = input * (1/div);
+      // returns value
+      return input;}
+    
+    
+void DumpTruck::stop(){
+    pc.printf("Truck will now stop.");
+    //stop motors
+    DrivePin = 0;
+    }
+
+//void DumpTruck::RotateTo() {  
+//    pc.printf("Desired Angle: ");
+//    DesiredPivotAngle = pc.getc();
+//    float CurrentPivotAngle =  getPivotAngle();
+//    Difference = DesiredPivotAngle-CurrentPivotAngle;
+//    if (Difference > limit)
+//    {
+//        PivotSpeed = setPivotSpeed();
+//        pc.printf("Rotating to %s /n", DesiredPivotAngle);
+//        //Drive Motors
+//        }
+//    else
+//    {stop()}
+//    
+//}    
+//
+//void DumpTruck::BedDown() {
+//     SwitchState = bool GetBedUpperSwitch();
+//     if SwitchState
+//     {return 0;}
+//     else
+//
+//     while(SwitchState == 0)
+//     {
+//         //driveMotor
+//         }
+//         calibrate();
+//    }
+//void DumpTruck::LowerBed() {
+//    SwitchState = bool GetLowerUpperSwitch();
+//     if SwitchState
+//     {return 0;}
+//     else
+//
+//     while(SwitchState == 0)
+//     {
+//         //driveMotor
+//         }
+//         calibrate();
+//    }
+//}
+//void DumpTruck::raiseTo(int angle) {
+//      pc.printf("Desired Angle: ");
+//    DesiredBedAngle = pc.getc();
+//    float CurrentBedAngle =  getBedAngle();
+//    Difference = DesiredBedAngle-CurrentBedAngle;
+//    if (Difference > limit)
+//    {
+//        BedSpeed = setBedSpeed();
+//        pc.printf("Rotating to %s /n", DesiredBedAngle);
+//        //Drive Motors
+//        }
+//    else
+//    {stop()}
+//}
+//
+//float DumpTruck::getPivotAngle(){
+//    float input = AnalogIn(x);
+//    return input
+//    }
+//float DumpTruck::setPivotSpeed(){
+//     pc.printf("Please enter the Pivot speed /n");
+//    float input = pc.getc();
+//    return input;
+//    }
+//
+//float DumpTruck::setBedSpeed(){
+//    pc.printf("Please enter the Bed speed /n");
+//    float input = pc.getc();
+//    return input;
+//    }
+//float DumpTruck::getBedAngle(){
+//    float input = AnalogIn(x); // data from potentiometer
+//    return input;
+//    }
+//    
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/DumpTruck.h	Tue Nov 01 20:13:57 2016 +0000
@@ -0,0 +1,39 @@
+#ifndef MBED_DUMP_TRUCK_H
+#define MBED_DUMP_TRUCK_H
+ 
+#include "mbed.h"
+
+class DumpTruck {
+public:
+    DumpTruck(int truckId);
+    void drive(); // Drive DC motors with a desired motor speed and distance
+    void stop();
+    void Calibrate();
+    //void RotateTo();
+    //void BedDown(); 
+    //void BedUp();   
+    //void raiseTo();
+    //void LowerBed();
+  
+protected:
+    int truckNumber;
+    float speed;                 // desired speed to drive the robot, a number between -1 and 1
+    float distance;              // input of desired distance to be traveled
+    float setTruckSpeed();       // set truck speed
+    float setTruckDistance();    // set distance to be traveled
+    //getBedAngle(); //Get data from Bed potentiometer, Hari is looking into the component for this
+    //getPivotAngle(double PivotAngle); //Get data from potentiometer
+    //SetPivotSpeed(double PivotSpeed); //Set arbitrary rotation of servo motor
+    //SetBedSpeed(); //Set arbitrary rotation of DC Motor
+    //bool GetBedUpperSwitch(); //Checks if bed is all the way up
+    //bool GetBedLowerSwitch(); //Checks if bed is all the way down
+    //bool SwitchState; //Switch state variable for Up and down bed functions
+    //float DesiredPivotAngle; // User Input of desired angle for the bed to be pivoted
+    //float DesiredBedAngle; //User Input of desired bed angle to be raised.
+    //float BedSpeed; //User input of desired speed for the dump truck's bed to rotate
+    //float PivotSpeed; //User input of desired speed for the dump truck to pivot its back at
+    
+    //bool isCalibrated;// returns 0 and 1 to check if the robot has been calibrated
+};
+
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Nov 01 20:13:57 2016 +0000
@@ -0,0 +1,11 @@
+#include "mbed.h"
+#include "DumpTruck.h"
+
+DigitalOut myled(LED1);
+
+
+int main() {
+    DumpTruck foo(1);
+    foo.drive();
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Tue Nov 01 20:13:57 2016 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/25aea2a3f4e3
\ No newline at end of file