Revision 10:cf77da9be0b8, committed 2017-02-28

Comitter:

simplyellow

Date:

Tue Feb 28 21:11:48 2017 +0000

Parent:

8:9c94865bd087

Child:

11:87f30625b213

Commit message:

updated dump truck class configured to test the dump truck's driving and object sensing capability.

Changed in this revision

--- 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

--- a/DumpTruck.h	Tue Feb 14 14:46:37 2017 -0500
+++ b/DumpTruck.h	Tue Feb 28 21:11:48 2017 +0000
@@ -1,110 +1,93 @@
 /**
 *   @file   DumpTruck.h
 *
-*   @brief  DumpTruck class implements API for commanding the dump truck and
-*           for implementing proprioceptive sensing.
+*   @brief  DumpTruck class integrates multiple sensors into one API.
 *
 *   @author Terrabots Team
 *
 */
 
-
 #ifndef MBED_DUMP_TRUCK_H
 #define MBED_DUMP_TRUCK_H
- 
+
 #include "mbed.h"
+#include "Tracker.h"
+//#include "IMU.h"
+#include "Motor.h"
+//#include "Transceiver.h"
+#include "SRF05.h"
+
+// ADD SWITCHES & ULTRASONIC SENSOR implementation
 
 /**
 *   @class DumpTruck
 *
-*   @brief  Interface for controlling a Dump Truck configured "robot."
+*   @brief  Interface for controlling a Dump truck.
 */
+
 class DumpTruck {
 public:
-
     /**
-    *   Constructor for the DumpTruck object.
+    *   Constructor for the Tracker object.
     *
-    *   @param[in]  truckId     Not sure.
+    *   @param[in]  truckId     The dump truck's identifier
     */
     DumpTruck(int truckId);
 
-    /**
-    *   Command the dump truck to drive with a desired sped for a specified
-    *   distance.
-    *
-    *   @param[in]  mSpeed  The desired motor speed.
-    *   @param[in]  dDist   The desired driver distance.
+    // motor functions
+    /*
+    *   Drive a certain distance at a desired speed.
+    */
+    void driveDistance(float speed, float distance);// frontMotor
+    /*
+    *   Drive at a desired speed.
     */
-    void drive(); // Drive DC motors with a desired motor speed and distance
-
-    /**
-    *   Command the dump truck to stop.
-    *
+    void drive(float speed);
+    /*
+    *   Turn the rear wheels a certain angle.
     */
-    void stop();
-
-    /**
-    *   Perform calibration routine.  It will ... FILL OUT
-    *
+    void turn(float angle);                 // turnMotor
+    /*
+    *   Move the dump truck's bed up/down a certain angle.
     */
-    void Calibrate();
+    void moveBed(bool raise, float angle);  // bedMotor
+    /*
+    *   Stop driving.
+    */
+    void stop();                            // all Motors
 
-    /**
-    *   WHAT IS THIS ABOUT?
-    *
-    */
-    //void RotateTo();
-
-    /**
-    *   Move the bed to the fully down position.  The down switch should
-    *   engage.
-    *
+    // ultrasonic functions
+    /*
+    *   Read from the ultrasonic sensor and determine the dump truck's
+    *   proximity from objects.
     */
-    void BedDown(); 
-
-    /**
-    *   Move the bed to the fully up position.  The up switch should
-    *   engage.
-    *
-    */
-    void BedUp();   
-
-    /**
-    *   Raise the bed to the desired angle.  Only effective if the bed angle
-    *   estimate has been zeroed out.
-    *
-    */
-    //void raiseTo();
+    bool detect();                          // returns bool for object too close
 
 
-    /**
-    *   NOT SURE.  HOW DIFFERENT FROM ABOVE? raiseTo should raise to any
-    *   arbitrary angle within limits.
-    *
-    */
-    //void LowerBed();
-    
-  
 protected:
+    Tracker *track;
+    //IMU *bed;
+    Motor *frontMotor;
+    Motor *turnMotor;
+    Motor *bedMotor;
+    //Transceiver *nrf;
+    SRF05 *srf;
+
+    // add direct control for motor, switch, and ultrasonic sensor.
+
     int truckNumber;
-    float speed;                 // desired speed to drive the robot, a number between -1 and 1
-    float distance;  
-    float getDistance();            // 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
+
+    // motor variables
+    float speed;                            // drive
+    float distance;                         // drive
+    float potAngle;                         // turn
+    float bedAngle;                         // bed
+
+    // bed-specific variables
+    bool switchState;   // BusIn the two limit switches
+
+    // ultrasonic-specific variables
+    bool tooClose;
+    float proximity;
 };
 #endif

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Motor.lib	Tue Feb 28 21:11:48 2017 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/teams/Terrabots/code/MotorV2/#e87768d3cd09

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SRF05.lib	Tue Feb 28 21:11:48 2017 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/users/simon/code/SRF05/#e758665e072c

--- a/main.cpp	Tue Feb 14 14:46:37 2017 -0500
+++ b/main.cpp	Tue Feb 28 21:11:48 2017 +0000
@@ -1,71 +1,18 @@
-#include "mbed.h"
-
-// Define buttons
-InterruptIn button_red(p5);
-InterruptIn button_green(p6);
-InterruptIn button_blue(p7);
-
-// Define LED colors
-PwmOut led_red(p21);
-PwmOut led_green(p22);
-PwmOut led_blue(p23);
-
-// Interrupt Service Routine to increment the red color
-void inc_red() {
+#include "DumpTruck.h"
+DumpTruck dump(1);
 
-    float pwm;
-
-    // Read in current PWM value and increment it
-    pwm = led_red.read();
-    pwm += 0.1f;
-    if (pwm > 1.0f) {
-        pwm = 0.0f;
-    }
-    led_red.write(pwm);
-}
-
-// Interrupt Service Routine to increment the green color
-void inc_green() {
-
-    float pwm;
+/*
+test code for driving and stopping when an object gets too close
+to the dump truck.
+*/
 
-    // Read in current PWM value and increment it
-    pwm = led_green.read();
-    pwm += 0.1f;
-    if (pwm > 1.0f) {
-        pwm = 0.0f;
-    }
-    led_green.write(pwm);
-}
-
-// Interrupt Service Routine to increment the blue color
-void inc_blue() {
-
-    float pwm;
-
-    // Read in current PWM value and increment it
-    pwm = led_blue.read();
-    pwm += 0.1f;
-    if (pwm > 1.0f) {
-        pwm = 0.0f;
+int main() {
+    while(1) {
+        if(dump.detect()) {
+            dump.stop();
+        } else {
+            dump.drive(0.5f);
+        }
     }
-    led_blue.write(pwm);
+    
 }
-
-// Main loop
-int main() {
-
-    // Initialize all LED colors as off
-    led_red.write(0.0f);
-    led_green.write(0.0f);
-    led_blue.write(0.0f);
-
-    // Define three interrupts - one for each color
-    button_red.fall(&inc_red);
-    button_green.fall(&inc_green);
-    button_blue.fall(&inc_blue);
-
-    // Do nothing! We wait for an interrupt to happen
-    while(1) {
-    }
-}