zhaw_st16b_pes2_10 / Mbed 2 deprecated PES_Official-US

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Dependencies:   Servo ServoArm mbed

Fork of PES_Official-TestF by zhaw_st16b_pes2_10

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
l

Who changed what in which revision?

UserRevisionLine numberNew 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