zhaw_st16b_pes2_10
/
PES_Official
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Dependencies: mbed Servo ServoArm
Fork of
PES_Yanick
by 
zhaw_st16b_pes2_10
Revision 6:ba26dd3251b3, committed 2017-04-26
- Comitter:
- beacon
- Date:
- Wed Apr 26 14:09:08 2017 +0000
- Parent:
- 5:1aaf5de776ff
- Child:
- 7:6fed0dcae9c1
- Child:
- 8:593f82e66bdf
- Commit message:
- YESSS! On time!!
Changed in this revision
--- a/Headers/Declarations.h Wed Apr 26 08:05:25 2017 +0000 +++ b/Headers/Declarations.h Wed Apr 26 14:09:08 2017 +0000 @@ -28,8 +28,10 @@ //Greifer: #define PC_7 SERVO0 -//Arm: -#define BACK 80 //Angle to set the arm up and back +//Arm +#define COLLECT_POS 65.0f +#define RELEASE_POS 80.0f +#define TAKE_POS -70.0f //Misc: #define TIMEOUT 140 //if the timer reaches TIMEOUT ([TIMEOUT] = 0.1s), the robot will reset.
--- a/Headers/Robot.h Wed Apr 26 08:05:25 2017 +0000
+++ b/Headers/Robot.h Wed Apr 26 14:09:08 2017 +0000
@@ -53,24 +53,26 @@
AnalogIn* FarbVoltage;
};
-/*
+
class Arm{
public:
- Arm(Servo joint);
+
Arm();
- void init(Servo joint);
+ Arm(Servo* servoArm);
- void down();
- void neutral();
- void back();
- void setAngle(float angle);
+ void init(Servo* servoArm);
+
+ void collecttodown(int* done);
+ void downtocollect(int* done);
+ void collecttoback(int* done);
+ void backtocollect(int* done);
private:
- Servo joint;
+ Servo* servoArm;
+ float angle;
};
-*/
class Robot
{
@@ -78,7 +80,7 @@
public:
//Robot related:
- Robot(PwmOut* left, PwmOut* right, DigitalOut* enableSignal, DigitalOut* leds, AnalogIn* FarbVoltage, AnalogIn* frontS, AnalogIn* leftS, AnalogIn* rightS );
+ Robot(PwmOut* left, PwmOut* right, DigitalOut* enableSignal, DigitalOut* leds, AnalogIn* FarbVoltage, AnalogIn* frontS, AnalogIn* leftS, AnalogIn* rightS, Servo* Arm );
//Drive Functions
void drive();
@@ -117,10 +119,13 @@
//void init();
//LEDS related:
- DigitalOut* leds;
+ DigitalOut* leds;
//Farbsensors related:
- Farbsensor FarbVoltage;
+ Farbsensor FarbVoltage;
+
+ //Arm related:
+ Arm Arm;
private:
--- a/Sources/Arm.cpp Wed Apr 26 08:05:25 2017 +0000
+++ b/Sources/Arm.cpp Wed Apr 26 14:09:08 2017 +0000
@@ -1,30 +1,61 @@
-/*#include "Robot.h"
+#include "Robot.h"
+#include "Declarations.h"
+
-Arm::Arm(Servo joint){
- init(joint);
+Arm::Arm(){
+}
+
+Arm::Arm(Servo* servoArm){
+ init(servoArm);
}
-Arm::Arm(){
+void Arm::init(Servo* servoArm){
+ this->servoArm = servoArm;
+ this->servoArm->calibrate(0.0015f, 180.0f);
+ this->servoArm->position(COLLECT_POS);
}
-void Arm::init(Servo joint){
- this.joint = joint;
+void Arm::collecttodown(int* done){
+ static float pos=COLLECT_POS;
+ if(pos>TAKE_POS) {
+ pos-=0.5f;
+ this->servoArm->position(pos);
+ }
+ else{
+ *done = 1;
+ }
}
-void Arm::down(){
- //do stuff
-}
-
-void Arm::neutral(){
- //do stuff
+void Arm::downtocollect(int* done){
+ static float pos=TAKE_POS;
+ if(pos<COLLECT_POS) {
+ pos+=0.5f;
+ this->servoArm->position(pos);
+ }
+ else{
+ *done = 1;
+ }
}
-void Arm::back(){
- //do stuff
+void Arm::collecttoback(int* done){
+ static float pos=COLLECT_POS;
+ if(pos<RELEASE_POS) {
+ pos+=0.5f;
+ this->servoArm->position(pos);
+ }
+ else{
+ *done = 1;
+ }
}
-void Arm::setAngle(float angle){
- //do stuff
-}
-*/
\ No newline at end of file
+void Arm::backtocollect(int* done){
+ static float pos=RELEASE_POS;
+ if(pos>COLLECT_POS) {
+ pos-=0.5f;
+ this->servoArm->position(pos);
+ }
+ else{
+ *done = 1;
+ }
+}
\ No newline at end of file
--- a/Sources/Robot.cpp Wed Apr 26 08:05:25 2017 +0000
+++ b/Sources/Robot.cpp Wed Apr 26 14:09:08 2017 +0000
@@ -3,7 +3,7 @@
/* Work in progress -------------------------------------------- */
-Robot::Robot(PwmOut* left, PwmOut* right, DigitalOut* enableSignal, DigitalOut* leds, AnalogIn* FarbVoltage, AnalogIn* frontS, AnalogIn* leftS, AnalogIn* rightS )
+Robot::Robot(PwmOut* left, PwmOut* right, DigitalOut* enableSignal, DigitalOut* leds, AnalogIn* FarbVoltage, AnalogIn* frontS, AnalogIn* leftS, AnalogIn* rightS, Servo* Arm )
{
this->powerSignal = enableSignal;
this->left = left;
@@ -19,7 +19,7 @@
this->leftS = leftS;
this->rightS = rightS;
- this->arm = arm;
+ this->Arm = Arm;
}
--- a/Sources/main.cpp Wed Apr 26 08:05:25 2017 +0000
+++ b/Sources/main.cpp Wed Apr 26 14:09:08 2017 +0000
@@ -30,12 +30,12 @@
DigitalIn overtemperatur(PB_15);
//Arm:
-//Servo arm(PC_7);
+Servo servoArm(PA_6);
//Farbsensor:
AnalogIn FarbVoltage(A0);
-Robot sam( &left, &right, &powerSignal, leds, &FarbVoltage, &frontS, &leftS, &rightS ); //Implement the Farbsensor into the Robot init function!!
+Robot sam( &left, &right, &powerSignal, leds, &FarbVoltage, &frontS, &leftS, &rightS, &servoArm); //Implement the Farbsensor into the Robot init function!!
void initializeDistanceSensors(){
for( int ii = 0; ii<9; ++ii) {
@@ -45,7 +45,7 @@
}
}
-/* */
+/* * /
int main(){
initializeDistanceSensors(); //Initialises IR-Sensors.
int counter = 0; //Counts how many times the robot has turned, before driving
@@ -101,4 +101,35 @@
wait(0.2);
}
}
-/* */
\ No newline at end of file
+/* */
+
+/* */
+int main(){
+ sam.stop();
+ int done = 0; //1:= finished process; 0:= not finished
+ int fun = 0; //just to test.
+
+ while(1){
+ if(fun == 0){
+ done = 0;
+ sam.Arm.collecttoback(&done);
+ done == 0 ? fun = 0 : fun = 1;
+ }
+ else if(fun == 1){
+ done = 0;
+ sam.Arm.backtocollect(&done);
+ done == 0 ? fun = 1 : fun = 2;
+ }
+ else if(fun == 2){
+ done = 0;
+ sam.Arm.collecttodown(&done);
+ done == 0 ? fun = 2 : fun = 3;
+ }
+ else if(fun == 3){
+ done = 0;
+ sam.Arm.downtocollect(&done);
+ done == 0 ? fun = 3 : fun = 0;
+ }
+ wait(0.1);
+ }
+}
\ No newline at end of file