Revision 0:d267b248eff4, committed 2017-03-11

Comitter:

beacon

Date:

Sat Mar 11 10:14:00 2017 +0000

Child:

1:388c915756f5

Commit message:

l

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Headers/Robot.h	Sat Mar 11 10:14:00 2017 +0000
@@ -0,0 +1,67 @@
+#ifndef ROBOT_H
+#define ROBOT_H
+
+#include <cstdlib>
+#include <mbed.h>
+
+#include "mbed.h"
+
+
+/* Declarations for the Motors in the Robot in order to drive -------- */
+class Robot
+{
+    
+    public:
+        
+        //Robot related:
+        Robot(PwmOut* left, PwmOut* right, DigitalOut* enable);
+        void drive();
+        void turnLeft();
+        void turnRight();
+        void turnAround(int left);
+        
+        //DistanceSensors related:
+        class DistanceSensors
+        {
+            public:
+                
+                DistanceSensors(AnalogIn* sensorVoltage, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, int number);
+                DistanceSensors();
+                
+                void init(AnalogIn* sensorVoltage, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, int number);
+                virtual ~DistanceSensors();    
+                float read();
+                
+                operator float();           //Is here to constantly return the value of read.
+                
+            private:
+                
+                AnalogIn*       sensorVoltage;
+                DigitalOut*     bit0;
+                DigitalOut*     bit1;
+                DigitalOut*     bit2;
+                
+                int             number;
+
+        };
+        
+        
+        DistanceSensors sensors[6];
+        void init();
+        
+    private:
+    
+        //Robot related:
+        PwmOut*         left;
+        PwmOut*         right;
+    
+        DigitalOut*     powerSignal;
+        DigitalIn*      errorSignal;
+        DigitalIn*      overtemperatur;
+        
+        //Distance sensors related:
+            //DistanceSensors   sensors[6];
+
+};
+
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Sources/DistanceSensors.cpp	Sat Mar 11 10:14:00 2017 +0000
@@ -0,0 +1,46 @@
+#include <cmath>
+#include "Robot.h"
+
+
+
+Robot::DistanceSensors::DistanceSensors() 
+{
+    //Nothing
+}
+    
+Robot::DistanceSensors::DistanceSensors(AnalogIn* sensorVoltage, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, int number)
+{   
+    init(sensorVoltage, bit0, bit1, bit2, number);
+}
+
+//initialise
+void Robot::DistanceSensors::init(AnalogIn* sensorVoltage, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, int number)
+{
+    this->sensorVoltage = sensorVoltage;
+    this->bit0 = bit0;
+    this->bit1 = bit1;
+    this->bit2 = bit2;    
+}
+
+
+Robot::DistanceSensors::~DistanceSensors()
+{ 
+}
+
+
+float Robot::DistanceSensors::read()//Return the distance of an object
+{  
+    *bit0 = number & 1; // Set the first bit of the Sensors MUX
+    *bit1 = number & 2; // Set the second bit of the Sensors MUX
+    *bit2 = number & 4; // Set the third bit of the Sensors MUX
+    
+    float Usensor=sensorVoltage->read(); //Read the Voltage from the selected distance sensor   
+    float Distance=-0.38f*sqrt(Usensor)+0.38f;
+    return Distance;
+}
+
+Robot::DistanceSensors::operator float()
+{ 
+    return read();
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Sources/Robot.cpp	Sat Mar 11 10:14:00 2017 +0000
@@ -0,0 +1,62 @@
+#include "Robot.h"
+
+/* Work in progress -------------------------------------------- */
+
+Robot::Robot(PwmOut* left, PwmOut* right, DigitalOut* enableSignal)
+{
+    this->powerSignal = enableSignal;
+    this->left = left;
+    this->right = right;
+
+    this->left->period(0.00005f);
+    this->right->period(0.00005f);
+}
+
+/* work in progress ------------------------------------------- */
+void Robot::drive()
+{
+    //pwm determine what direction it goes.
+    *powerSignal = 1;
+    *left=  0.8f;
+    *right= 0.7f;
+    *left=  0.7f;
+    *right= 0.8f;
+}
+
+void Robot::turnLeft(){
+    *powerSignal = 1;
+    *left=  0.35f;
+    *right= 0.65f;
+    
+}
+
+void Robot::turnRight(){
+    *powerSignal = 1;
+    *left=  0.65f;
+    *right= 0.35f;
+}
+
+void Robot::turnAround(int left){
+    *powerSignal = 1;
+    
+    if (left){
+        turnLeft();
+    }
+    
+    else{
+        turnRight();
+    }
+}
+
+//void Robot::init(){
+//  Robot.DistanceSensors.init(&sensorVoltage, &bit0, &bit1, &bit2, ii);
+//}
+    
+//Remember to set
+//DigitalOut powerMotor(PB_2) = 1;
+//DigitalIn errorMotor(PB_14);
+//if (errorMotor){
+//reset
+//}
+
+//Add management for Overpower!! Pin PB_15
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Sources/main.cpp	Sat Mar 11 10:14:00 2017 +0000
@@ -0,0 +1,105 @@
+#include "mbed.h"
+#include "Robot.h"
+
+#include <cstdlib>
+
+#define NEAR 0.1f   //Used for distance Sensors. If they're to near to a wall -> turn
+#define LEFT        //Arrayindex of the left Sensor
+#define FWD         //Arrayindex of the forward Sensor
+#define RIGHT       //Arrayindex of the right Sensor
+
+
+//Robot related:
+PwmOut          left(PA_8);
+PwmOut          right(PA_3);
+
+DigitalOut      powerSignal(PB_2);
+DigitalIn       errorSignal(PB_14);
+DigitalIn       overtemperatur(PB_15);
+
+Robot bot( &left, &right, &powerSignal );
+
+//DistanceSensors related:
+Serial pc(SERIAL_TX, SERIAL_RX);
+
+AnalogIn sensorVoltage(PB_1);
+DigitalOut enable(PC_1);
+DigitalOut bit0(PH_1);
+DigitalOut bit1(PC_2);
+DigitalOut bit2(PC_3);
+//Robot::DistanceSensors sensors[6];
+
+//LED related:
+DigitalOut leds[] = { PC_8, PC_6, PB_12, PA_7, PC_0, PC_9 };
+
+void initialiseDistanceSensors(){
+    for( int ii = 0; ii<6; ++ii) {
+        bot.sensors[ii].init(&sensorVoltage, &bit0, &bit1, &bit2, ii);
+
+        enable = 1;
+    }
+}
+
+void fahralgorithmus(){
+    
+    int rando = 0; //Will be used for rdandom actions.
+
+    while( 1 ) {    //Remember to change the indices. Also make into a seperate function
+
+        if ( bot.sensors[0] < NEAR ) { //Left Sensor
+            while ( bot.sensors[0] < NEAR ) {
+                bot.turnRight();
+            }
+        }
+
+        else if ( bot.sensors[1] < NEAR ) { //Front Sensor
+            rando = rand() % 2;
+            while ( bot.sensors[1] < NEAR ) {
+                bot.turnAround(rando);
+            }
+        }
+
+        else if ( bot.sensors[2] < NEAR ) { //Right Sensor
+            while ( bot.sensors[2] < NEAR ) {
+                bot.turnLeft();
+            }
+        }
+
+        else {
+            bot.drive();
+        }
+
+    }
+}
+
+/* * /
+
+
+int main(){
+    while( 1 ){
+        bot.drive();
+    }
+    return 0;
+}
+/* */
+
+
+/* */
+int main()
+{
+    initialiseDistanceSensors();
+    
+    while( 1 ){
+        for(int i=0; i<6; i++){
+            if(bot.sensors[i] > 0.05f){
+                leds[i] = 1;
+            }
+            else{
+                leds[i] = 0;
+            }
+        }
+    }
+    
+    return 0;
+}
+/*  */
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Sat Mar 11 10:14:00 2017 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/e1686b8d5b90
\ No newline at end of file