Components / SeeedShieldBot

Library for the Shield Bot by SeeedStudio

Dependents:   Seeed_Bot_Shield Seeed_BlueBot_demo Seeed_BlueBot_demo_test1 LAB03_Oppgav1 ... more

Fork of SeeedShieldBot by Components

SeeedStudioShieldBot.h@6:9479362be27f, 2013-07-15 (annotated)

Committer:
melse
Date:
Mon Jul 15 14:03:41 2013 +0000
Revision:
6:9479362be27f
Parent:
5:179e85a68446
Child:
7:887c729fd7c1
added notes about 5v vin

Who changed what in which revision?

UserRevisionLine numberNew contents of line
melse 0:227158f56a11 1 #include "mbed.h"
melse 0:227158f56a11 2
melse 3:ccd47cdacb7b 3 /** Seeed Studio Shield Bot Control Class
melse 5:179e85a68446 4 * In order to use this properly, you need to connect a jumper between pins eight and three on the shield bot, and you can't use either pins 8 or 3, which correspond to PTA13 and PTA12, respectively.
melse 6:9479362be27f 5 * Also, in order to provide power to the freedom board, when running just of a lipo battery, you need to connect between 5V and VIN on the shield bot.
melse 6:9479362be27f 6 * Code/notes above only tested with version 0.9b, may not be needed/may not work in other cases...
melse 3:ccd47cdacb7b 7 */
melse 0:227158f56a11 8 class SeeedStudioShieldBot {
melse 0:227158f56a11 9 public:
melse 0:227158f56a11 10
melse 0:227158f56a11 11 // Create a shield bot object, using default settings for now...
melse 0:227158f56a11 12 SeeedStudioShieldBot();
melse 0:227158f56a11 13
melse 2:118efce95f3c 14 /** Switch on the left motor at the given speed.
melse 4:e2d5ac8459a4 15 * @param speed The speed, from 0.0 to 1.0 at which to spin the motor.
melse 2:118efce95f3c 16 */
melse 0:227158f56a11 17 void left_motor(float speed);
melse 4:e2d5ac8459a4 18
melse 4:e2d5ac8459a4 19 /** Switch on the right motor at the given speed.
melse 4:e2d5ac8459a4 20 * @param speed The speed, from 0.0 to 1.0 at which to spin the motor.
melse 4:e2d5ac8459a4 21 */
melse 0:227158f56a11 22 void right_motor(float speed);
melse 0:227158f56a11 23
melse 4:e2d5ac8459a4 24 /** Switch on both motors, forwards at the given speed.
melse 4:e2d5ac8459a4 25 * @param speed The speed, from 0.0 to 1.0 at which to spin the motor.
melse 4:e2d5ac8459a4 26 */
melse 0:227158f56a11 27 void forward(float speed);
melse 4:e2d5ac8459a4 28
melse 4:e2d5ac8459a4 29 /** Switch on both motors, backwards at the given speed.
melse 4:e2d5ac8459a4 30 * @param speed The speed, from 0.0 to 1.0 at which to spin the motor.
melse 4:e2d5ac8459a4 31 */
melse 0:227158f56a11 32 void backward(float speed);
melse 0:227158f56a11 33
melse 4:e2d5ac8459a4 34 /** Switch on both motors at the given speed, in opposite directions so as to turn left.
melse 4:e2d5ac8459a4 35 * @param speed The speed, from 0.0 to 1.0 at which to spin the motors.
melse 4:e2d5ac8459a4 36 */
melse 0:227158f56a11 37 void left(float speed);
melse 4:e2d5ac8459a4 38
melse 4:e2d5ac8459a4 39 /** Switch on both motors at the given speed, in opposite directions so as to turn right.
melse 4:e2d5ac8459a4 40 * @param speed The speed, from 0.0 to 1.0 at which to spin the motors.
melse 4:e2d5ac8459a4 41 */
melse 0:227158f56a11 42 void right(float speed);
melse 0:227158f56a11 43
melse 4:e2d5ac8459a4 44 /** Disable the left motor, by driving enable pin for the second motor low...
melse 4:e2d5ac8459a4 45 */
melse 2:118efce95f3c 46 void disable_left_motor();
melse 4:e2d5ac8459a4 47
melse 4:e2d5ac8459a4 48 /** Disable the left motor, by driving enable pin for the first motor low...
melse 4:e2d5ac8459a4 49 */
melse 2:118efce95f3c 50 void disable_right_motor();
melse 0:227158f56a11 51
melse 4:e2d5ac8459a4 52 /** Enable the left motor, by driving enable pin for the second motor high...
melse 4:e2d5ac8459a4 53 */
melse 2:118efce95f3c 54 void enable_left_motor();
melse 4:e2d5ac8459a4 55
melse 4:e2d5ac8459a4 56 /** Enable the left motor, by driving enable pin for the first motor high...
melse 4:e2d5ac8459a4 57 */
melse 2:118efce95f3c 58 void enable_right_motor();
melse 0:227158f56a11 59
melse 4:e2d5ac8459a4 60 /** Stop both motors at the same time. Different to disable.
melse 4:e2d5ac8459a4 61 */
melse 0:227158f56a11 62 void stopAll();
melse 4:e2d5ac8459a4 63
melse 4:e2d5ac8459a4 64 /** Stop a chosen motor.
melse 4:e2d5ac8459a4 65 * @param motor Number, either 1 or 2 choosing the motor.
melse 4:e2d5ac8459a4 66 */
melse 2:118efce95f3c 67 void stop(int motor);
melse 0:227158f56a11 68
melse 0:227158f56a11 69 // Need to do something to do with detected line...
melse 0:227158f56a11 70
melse 4:e2d5ac8459a4 71 /** Gives an indication of the data given by the reflectivity sensors.
melse 4:e2d5ac8459a4 72 */
melse 1:5c40f2a5e1ac 73 float line_position();
melse 0:227158f56a11 74
melse 0:227158f56a11 75 DigitalIn rightSensor;
melse 0:227158f56a11 76 DigitalIn inRightSensor;
melse 0:227158f56a11 77 DigitalIn centreSensor;
melse 0:227158f56a11 78 DigitalIn inLeftSensor;
melse 0:227158f56a11 79 DigitalIn leftSensor;
melse 0:227158f56a11 80
melse 0:227158f56a11 81 private:
melse 0:227158f56a11 82 PwmOut motor1A;
melse 0:227158f56a11 83 DigitalOut motor1B;
melse 0:227158f56a11 84 DigitalOut motor1En;
melse 0:227158f56a11 85
melse 0:227158f56a11 86 // motor2A or motor2B need to be PWM, but the freedom board doesn't support it at the moment...
melse 0:227158f56a11 87 PwmOut motor2A;
melse 0:227158f56a11 88 DigitalOut motor2B;
melse 0:227158f56a11 89 DigitalOut motor2En;
melse 0:227158f56a11 90 };