Library for the Shield Bot by SeeedStudio
Dependents: Seeed_Bot_Shield Seeed_BlueBot_demo Seeed_BlueBot_demo_test1 LAB03_Oppgav1 ... more
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SeeedStudioShieldBot Class Reference
Seeed Studio Shield Bot Control Class 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. More...
#include <SeeedStudioShieldBot.h>
Public Member Functions | |
SeeedStudioShieldBot (PinName mot1A, PinName mot1En, PinName mot1B, PinName mot2A, PinName mot2En, PinName mot2B, PinName sensor_right, PinName sensor_inright, PinName sensor_center, PinName sensor_inleft, PinName sensor_left) | |
Create a shield bot object. | |
void | left_motor (float speed) |
Switch on the left motor at the given speed. | |
void | right_motor (float speed) |
Switch on the right motor at the given speed. | |
void | forward (float speed) |
Switch on both motors, forwards at the given speed. | |
void | backward (float speed) |
Switch on both motors, backwards at the given speed. | |
void | left (float speed) |
Switch on both motors at the given speed, in opposite directions so as to turn left. | |
void | right (float speed) |
Switch on both motors at the given speed, in opposite directions so as to turn right. | |
void | turn_left (float speed) |
Turns left. | |
void | turn_right (float speed) |
Turns right. | |
void | disable_left_motor () |
Disable the left motor, by driving enable pin for the second motor low... | |
void | disable_right_motor () |
Disable the left motor, by driving enable pin for the first motor low... | |
void | enable_left_motor () |
Enable the left motor, by driving enable pin for the second motor high... | |
void | enable_right_motor () |
Enable the left motor, by driving enable pin for the first motor high... | |
void | stop (int motor) |
Stop a chosen motor. | |
void | stopLeft () |
Stop left motor. | |
void | stopRight () |
Stop right motor. | |
void | stopAll () |
Stop both motors at the same time. | |
float | line_position () |
Gives an indication of the data given by the reflectivity sensors. |
Detailed Description
Seeed Studio Shield Bot Control Class 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.
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. Code/notes above only tested with version 0.9b, may not be needed/may not work in other cases...
Definition at line 8 of file SeeedStudioShieldBot.h.
Constructor & Destructor Documentation
SeeedStudioShieldBot | ( | PinName | mot1A, |
PinName | mot1En, | ||
PinName | mot1B, | ||
PinName | mot2A, | ||
PinName | mot2En, | ||
PinName | mot2B, | ||
PinName | sensor_right, | ||
PinName | sensor_inright, | ||
PinName | sensor_center, | ||
PinName | sensor_inleft, | ||
PinName | sensor_left | ||
) |
Create a shield bot object.
- Parameters:
-
mot1A Left Motor A pin, default D5 mot1B Left Motor B pin, default D6 mot1En Left Motor enable pin, default D7 mot2A Right Motor A pin, default D8 mot2B Right Motor B pin, default D9 mot2En Right Motor enable pin, default D10 sensor_right Sensor right pin, default A0 sensor_inright Sensor in-right pin, default A1 sensor_center Sensor right pin, default A2 sensor_inleft Sensor in-left pin, default A3 sensor_left Sensor left pin, default D4
Definition at line 5 of file SeeedStudioShieldBot.cpp.
Member Function Documentation
void backward | ( | float | speed ) |
Switch on both motors, backwards at the given speed.
- Parameters:
-
speed The speed, from 0.0 to 1.0 at which to spin the motor.
Definition at line 84 of file SeeedStudioShieldBot.cpp.
void disable_left_motor | ( | ) |
Disable the left motor, by driving enable pin for the second motor low...
Definition at line 110 of file SeeedStudioShieldBot.cpp.
void disable_right_motor | ( | ) |
Disable the left motor, by driving enable pin for the first motor low...
Definition at line 105 of file SeeedStudioShieldBot.cpp.
void enable_left_motor | ( | ) |
Enable the left motor, by driving enable pin for the second motor high...
Definition at line 100 of file SeeedStudioShieldBot.cpp.
void enable_right_motor | ( | ) |
Enable the left motor, by driving enable pin for the first motor high...
Definition at line 95 of file SeeedStudioShieldBot.cpp.
void forward | ( | float | speed ) |
Switch on both motors, forwards at the given speed.
- Parameters:
-
speed The speed, from 0.0 to 1.0 at which to spin the motor.
Definition at line 73 of file SeeedStudioShieldBot.cpp.
void left | ( | float | speed ) |
Switch on both motors at the given speed, in opposite directions so as to turn left.
- Parameters:
-
speed The speed, from 0.0 to 1.0 at which to spin the motors.
Definition at line 43 of file SeeedStudioShieldBot.cpp.
void left_motor | ( | float | speed ) |
Switch on the left motor at the given speed.
- Parameters:
-
speed The speed, from 0.0 to 1.0 at which to spin the motor.
Definition at line 29 of file SeeedStudioShieldBot.cpp.
float line_position | ( | ) |
Gives an indication of the data given by the reflectivity sensors.
Definition at line 118 of file SeeedStudioShieldBot.cpp.
void right | ( | float | speed ) |
Switch on both motors at the given speed, in opposite directions so as to turn right.
- Parameters:
-
speed The speed, from 0.0 to 1.0 at which to spin the motors.
Definition at line 49 of file SeeedStudioShieldBot.cpp.
void right_motor | ( | float | speed ) |
Switch on the right motor at the given speed.
- Parameters:
-
speed The speed, from 0.0 to 1.0 at which to spin the motor.
Definition at line 17 of file SeeedStudioShieldBot.cpp.
void stop | ( | int | motor ) |
Stop a chosen motor.
- Parameters:
-
motor Number, either 1 or 2 choosing the motor.
Definition at line 137 of file SeeedStudioShieldBot.cpp.
void stopAll | ( | ) |
Stop both motors at the same time.
Different to disable.
Definition at line 158 of file SeeedStudioShieldBot.cpp.
void stopLeft | ( | ) |
Stop left motor.
Definition at line 146 of file SeeedStudioShieldBot.cpp.
void stopRight | ( | ) |
Stop right motor.
Definition at line 152 of file SeeedStudioShieldBot.cpp.
void turn_left | ( | float | speed ) |
Turns left.
- Parameters:
-
speed The speed, from 0.0 to 1.0 at which to spin the motor.
Definition at line 55 of file SeeedStudioShieldBot.cpp.
void turn_right | ( | float | speed ) |
Turns right.
- Parameters:
-
speed The speed, from 0.0 to 1.0 at which to spin the motor.
Definition at line 61 of file SeeedStudioShieldBot.cpp.
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