DumpTruck.cpp

00001 #include "DumpTruck.h"
00002 
00003 DumpTruck::DumpTruck(int truckId) : truckNumber(truckId) {
00004     truckNumber = truckId;
00005 }
00006 
00007 PwmOut DrivePin(p22);
00008 DigitalOut DirPin(p29);
00009 
00010 void Calibrate(){}
00011 
00012 void DumpTruck::drive() {
00013     // get desired distance and speed
00014     distance = setTruckDistance();
00015     speed = setTruckSpeed();
00016     // terminal confirmation of distance and speed
00017     pc.printf("Truck will drive a distance of %f at a speed of %f",distance,speed);
00018     
00019     // insert while loop here which relates to distance travelled
00020     
00021     // if the speed is greater than zero, go forward at specified speed
00022     if (speed >= 0) {
00023     DirPin = 1;
00024     DrivePin = speed;
00025     } // else, go backwards at specified speed  
00026     else {
00027     DirPin = 0;
00028     DrivePin = -1 * speed;
00029     }
00030     // stop motors
00031     stop();
00032     // calibrate motors
00033     Calibrate();
00034 }
00035 
00036 float DumpTruck::setTruckDistance(){
00037     // terminal prompt for distance
00038     pc.printf("Please enter the truck distance:");
00039     // sets return value to given value
00040     float input = pc.getc();
00041     // returns value
00042     return input;
00043     }
00044 
00045 float DumpTruck::setTruckSpeed(){
00046     // terminal prompt for speed
00047     pc.printf("Please enter the truck speed:");
00048     // sets return value to given value
00049     float input = pc.getc();
00050     // returns value
00051     return input;
00052     }
00053     
00054 void DumpTruck::stop(){
00055     pc.printf("Truck will now stop.");
00056     //stop motors
00057     DrivePin = 0;
00058     }
00059 
00060 void DumpTruck::RotateTo() {  
00061     pc.printf("Desired Angle: ");
00062     DesiredPivotAngle = pc.getc();
00063     float CurrentPivotAngle =  getPivotAngle();
00064     Difference = DesiredPivotAngle-CurrentPivotAngle;
00065     if (Difference > limit)
00066     {
00067         PivotSpeed = setPivotSpeed();
00068         pc.printf("Rotating to %s /n", DesiredPivotAngle);
00069         //Drive Motors
00070         }
00071     else
00072     {stop()}
00073     
00074 }    
00075 
00076 void DumpTruck::BedDown() {
00077      SwitchState = bool GetBedUpperSwitch();
00078      if SwitchState
00079      {return 0;}
00080      else
00081 
00082      while(SwitchState == 0)
00083      {
00084          //driveMotor
00085          }
00086          calibrate();
00087     }
00088 void DumpTruck::LowerBed() {
00089     SwitchState = bool GetLowerUpperSwitch();
00090      if SwitchState
00091      {return 0;}
00092      else
00093 
00094      while(SwitchState == 0)
00095      {
00096          //driveMotor
00097          }
00098          calibrate();
00099     }
00100 }
00101 void DumpTruck::raiseTo(int angle) {
00102       pc.printf("Desired Angle: ");
00103     DesiredBedAngle = pc.getc();
00104     float CurrentBedAngle =  getBedAngle();
00105     Difference = DesiredBedAngle-CurrentBedAngle;
00106     if (Difference > limit)
00107     {
00108         BedSpeed = setBedSpeed();
00109         pc.printf("Rotating to %s /n", DesiredBedAngle);
00110         //Drive Motors
00111         }
00112     else
00113     {stop()}
00114 }
00115 
00116 float DumpTruck::getPivotAngle(){
00117     float input = AnalogIn(x);
00118     return input
00119     }
00120 float DumpTruck::setPivotSpeed(){
00121      pc.printf("Please enter the Pivot speed /n");
00122     float input = pc.getc();
00123     return input;
00124     }
00125 
00126 float DumpTruck::setBedSpeed(){
00127     pc.printf("Please enter the Bed speed /n");
00128     float input = pc.getc();
00129     return input;
00130     }
00131 float DumpTruck::getBedAngle(){
00132     float input = AnalogIn(x); // data from potentiometer
00133     return input;
00134     }
00135     
00136