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Dependencies: Servo ServoArm mbed
Fork of PES_Official by
Sources/Robot.cpp@0:d267b248eff4, 2017-03-11 (annotated)
- Committer:
- beacon
- Date:
- Sat Mar 11 10:14:00 2017 +0000
- Revision:
- 0:d267b248eff4
- Child:
- 1:388c915756f5
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Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
beacon | 0:d267b248eff4 | 1 | #include "Robot.h" |
beacon | 0:d267b248eff4 | 2 | |
beacon | 0:d267b248eff4 | 3 | /* Work in progress -------------------------------------------- */ |
beacon | 0:d267b248eff4 | 4 | |
beacon | 0:d267b248eff4 | 5 | Robot::Robot(PwmOut* left, PwmOut* right, DigitalOut* enableSignal) |
beacon | 0:d267b248eff4 | 6 | { |
beacon | 0:d267b248eff4 | 7 | this->powerSignal = enableSignal; |
beacon | 0:d267b248eff4 | 8 | this->left = left; |
beacon | 0:d267b248eff4 | 9 | this->right = right; |
beacon | 0:d267b248eff4 | 10 | |
beacon | 0:d267b248eff4 | 11 | this->left->period(0.00005f); |
beacon | 0:d267b248eff4 | 12 | this->right->period(0.00005f); |
beacon | 0:d267b248eff4 | 13 | } |
beacon | 0:d267b248eff4 | 14 | |
beacon | 0:d267b248eff4 | 15 | /* work in progress ------------------------------------------- */ |
beacon | 0:d267b248eff4 | 16 | void Robot::drive() |
beacon | 0:d267b248eff4 | 17 | { |
beacon | 0:d267b248eff4 | 18 | //pwm determine what direction it goes. |
beacon | 0:d267b248eff4 | 19 | *powerSignal = 1; |
beacon | 0:d267b248eff4 | 20 | *left= 0.8f; |
beacon | 0:d267b248eff4 | 21 | *right= 0.7f; |
beacon | 0:d267b248eff4 | 22 | *left= 0.7f; |
beacon | 0:d267b248eff4 | 23 | *right= 0.8f; |
beacon | 0:d267b248eff4 | 24 | } |
beacon | 0:d267b248eff4 | 25 | |
beacon | 0:d267b248eff4 | 26 | void Robot::turnLeft(){ |
beacon | 0:d267b248eff4 | 27 | *powerSignal = 1; |
beacon | 0:d267b248eff4 | 28 | *left= 0.35f; |
beacon | 0:d267b248eff4 | 29 | *right= 0.65f; |
beacon | 0:d267b248eff4 | 30 | |
beacon | 0:d267b248eff4 | 31 | } |
beacon | 0:d267b248eff4 | 32 | |
beacon | 0:d267b248eff4 | 33 | void Robot::turnRight(){ |
beacon | 0:d267b248eff4 | 34 | *powerSignal = 1; |
beacon | 0:d267b248eff4 | 35 | *left= 0.65f; |
beacon | 0:d267b248eff4 | 36 | *right= 0.35f; |
beacon | 0:d267b248eff4 | 37 | } |
beacon | 0:d267b248eff4 | 38 | |
beacon | 0:d267b248eff4 | 39 | void Robot::turnAround(int left){ |
beacon | 0:d267b248eff4 | 40 | *powerSignal = 1; |
beacon | 0:d267b248eff4 | 41 | |
beacon | 0:d267b248eff4 | 42 | if (left){ |
beacon | 0:d267b248eff4 | 43 | turnLeft(); |
beacon | 0:d267b248eff4 | 44 | } |
beacon | 0:d267b248eff4 | 45 | |
beacon | 0:d267b248eff4 | 46 | else{ |
beacon | 0:d267b248eff4 | 47 | turnRight(); |
beacon | 0:d267b248eff4 | 48 | } |
beacon | 0:d267b248eff4 | 49 | } |
beacon | 0:d267b248eff4 | 50 | |
beacon | 0:d267b248eff4 | 51 | //void Robot::init(){ |
beacon | 0:d267b248eff4 | 52 | // Robot.DistanceSensors.init(&sensorVoltage, &bit0, &bit1, &bit2, ii); |
beacon | 0:d267b248eff4 | 53 | //} |
beacon | 0:d267b248eff4 | 54 | |
beacon | 0:d267b248eff4 | 55 | //Remember to set |
beacon | 0:d267b248eff4 | 56 | //DigitalOut powerMotor(PB_2) = 1; |
beacon | 0:d267b248eff4 | 57 | //DigitalIn errorMotor(PB_14); |
beacon | 0:d267b248eff4 | 58 | //if (errorMotor){ |
beacon | 0:d267b248eff4 | 59 | //reset |
beacon | 0:d267b248eff4 | 60 | //} |
beacon | 0:d267b248eff4 | 61 | |
beacon | 0:d267b248eff4 | 62 | //Add management for Overpower!! Pin PB_15 |