Revision 3:844e9730b38e, committed 2016-10-25

Comitter:

Josahty

Date:

Tue Oct 25 20:35:43 2016 +0000

Parent:

2:35282815cbea

Commit message:

Updated drive functions, edited syntax, added comments

Changed in this revision

--- a/DumpTruck.cpp	Tue Oct 25 20:05:12 2016 +0000
+++ b/DumpTruck.cpp	Tue Oct 25 20:35:43 2016 +0000
@@ -4,16 +4,59 @@
     truckNumber = truckId;
 }
 
+PwmOut DrivePin(p22);
+DigitalOut DirPin(p29);
+
 void Calibrate(){}
+
 void DumpTruck::drive() {
+    // get desired distance and speed
+    distance = setTruckDistance();
     speed = setTruckSpeed();
-    distance = setTruckDistance(); //converts input to appropriate numher of rotations using encoder
-   pc.printf("drive %f at %f",distance,speed);
-   //Drive Motors
-   stop();
-   calibrate();
+    // terminal confirmation of distance and speed
+    pc.printf("Truck will drive a distance of %f at a speed of %f",distance,speed);
+    
+    // insert while loop here which relates to distance travelled
+    
+    // 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();
 }
 
+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(){
+    // terminal prompt for speed
+    pc.printf("Please enter the truck speed:");
+    // sets return value to given value
+    float input = pc.getc();
+    // 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();
@@ -69,16 +112,7 @@
     else
     {stop()}
 }
-float setTruckSpeed(){
-    pc.printf("Please enter the truck speed");
-    float input = pc.getc();
-    return input;
-    }
-float setTruckDistance(){
-    pc.printf("Please enter the truck distance");
-    float input = pc.getc();
-    return input;
-    }
+
 float DumpTruck::getPivotAngle(){
     float input = AnalogIn(x);
     return input
@@ -99,7 +133,4 @@
     return input;
     }
     
-void DumpTruck::stop(){
-    pc.printf("STOP");
-    //stop motors
-    }
+

--- a/DumpTruck.h	Tue Oct 25 20:05:12 2016 +0000
+++ b/DumpTruck.h	Tue Oct 25 20:35:43 2016 +0000
@@ -30,8 +30,6 @@
     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 distance; //desired distance to have the robot drive
-    float speed; //value between 0 and 1 times the full speed of the robot
     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