Oscar Quiroz Ortega / SeeedShieldBot

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Fork of SeeedShieldBot by Components

SeeedStudioShieldBot.h@9:7041241217c4, 2015-08-13 (annotated)

Committer:
0scar0o0o0
Date:
Thu Aug 13 02:13:25 2015 +0000
Revision:
9:7041241217c4
Parent:
8:9fd1722259a1 
Robot

Who changed what in which revision?

UserRevisionLine numberNew contents of line
melse 0:227158f56a11 1 #include "mbed.h"
melse 0:227158f56a11 2
melse 3:ccd47cdacb7b 3 /** Seeed Studio Shield Bot Control Class
melse 5:179e85a68446 4 * 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.
melse 6:9479362be27f 5 * 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.
melse 6:9479362be27f 6 * Code/notes above only tested with version 0.9b, may not be needed/may not work in other cases...
melse 3:ccd47cdacb7b 7 */
melse 0:227158f56a11 8 class SeeedStudioShieldBot {
melse 0:227158f56a11 9 public:
melse 0:227158f56a11 10
screamer 7:887c729fd7c1 11 /** Create a shield bot object
screamer 7:887c729fd7c1 12 *
screamer 7:887c729fd7c1 13 * @param mot1A Left Motor A pin, default D5
screamer 7:887c729fd7c1 14 * @param mot1B Left Motor B pin, default D6
screamer 7:887c729fd7c1 15 * @param mot1En Left Motor enable pin, default D7
0scar0o0o0 9:7041241217c4 16
0scar0o0o0 9:7041241217c4 17 * @param mot2A Right Motor A pin, default D8
screamer 7:887c729fd7c1 18 * @param mot2B Right Motor B pin, default D9
screamer 7:887c729fd7c1 19 * @param mot2En Right Motor enable pin, default D10
0scar0o0o0 9:7041241217c4 20
screamer 7:887c729fd7c1 21 * @param sensor_right Sensor right pin, default A0
screamer 7:887c729fd7c1 22 * @param sensor_inright Sensor in-right pin, default A1
screamer 7:887c729fd7c1 23 * @param sensor_center Sensor right pin, default A2
screamer 7:887c729fd7c1 24 * @param sensor_inleft Sensor in-left pin, default A3
screamer 7:887c729fd7c1 25 * @param sensor_left Sensor left pin, default D4
screamer 7:887c729fd7c1 26 */
screamer 7:887c729fd7c1 27 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);
screamer 7:887c729fd7c1 28
melse 2:118efce95f3c 29 /** Switch on the left motor at the given speed.
melse 4:e2d5ac8459a4 30 * @param speed The speed, from 0.0 to 1.0 at which to spin the motor.
screamer 7:887c729fd7c1 31 */
melse 0:227158f56a11 32 void left_motor(float speed);
melse 4:e2d5ac8459a4 33
melse 4:e2d5ac8459a4 34 /** Switch on the right motor at the given speed.
melse 4:e2d5ac8459a4 35 * @param speed The speed, from 0.0 to 1.0 at which to spin the motor.
screamer 7:887c729fd7c1 36 */
melse 0:227158f56a11 37 void right_motor(float speed);
melse 0:227158f56a11 38
melse 4:e2d5ac8459a4 39 /** Switch on both motors, forwards at the given speed.
melse 4:e2d5ac8459a4 40 * @param speed The speed, from 0.0 to 1.0 at which to spin the motor.
screamer 7:887c729fd7c1 41 */
melse 0:227158f56a11 42 void forward(float speed);
melse 4:e2d5ac8459a4 43
melse 4:e2d5ac8459a4 44 /** Switch on both motors, backwards at the given speed.
melse 4:e2d5ac8459a4 45 * @param speed The speed, from 0.0 to 1.0 at which to spin the motor.
screamer 7:887c729fd7c1 46 */
melse 0:227158f56a11 47 void backward(float speed);
melse 0:227158f56a11 48
melse 4:e2d5ac8459a4 49 /** Switch on both motors at the given speed, in opposite directions so as to turn left.
melse 4:e2d5ac8459a4 50 * @param speed The speed, from 0.0 to 1.0 at which to spin the motors.
melse 4:e2d5ac8459a4 51 */
melse 0:227158f56a11 52 void left(float speed);
melse 4:e2d5ac8459a4 53
melse 4:e2d5ac8459a4 54 /** Switch on both motors at the given speed, in opposite directions so as to turn right.
melse 4:e2d5ac8459a4 55 * @param speed The speed, from 0.0 to 1.0 at which to spin the motors.
screamer 7:887c729fd7c1 56 */
melse 0:227158f56a11 57 void right(float speed);
screamer 7:887c729fd7c1 58
screamer 7:887c729fd7c1 59 /** Turns left.
screamer 7:887c729fd7c1 60 * @param speed The speed, from 0.0 to 1.0 at which to spin the motor.
screamer 7:887c729fd7c1 61 */
screamer 7:887c729fd7c1 62 void turn_left(float speed);
screamer 7:887c729fd7c1 63
screamer 7:887c729fd7c1 64 /** Turns right.
screamer 7:887c729fd7c1 65 * @param speed The speed, from 0.0 to 1.0 at which to spin the motor.
screamer 7:887c729fd7c1 66 */
screamer 7:887c729fd7c1 67 void turn_right(float speed);
screamer 7:887c729fd7c1 68
melse 4:e2d5ac8459a4 69 /** Disable the left motor, by driving enable pin for the second motor low...
screamer 7:887c729fd7c1 70 */
melse 2:118efce95f3c 71 void disable_left_motor();
melse 4:e2d5ac8459a4 72
melse 4:e2d5ac8459a4 73 /** Disable the left motor, by driving enable pin for the first motor low...
screamer 7:887c729fd7c1 74 */
melse 2:118efce95f3c 75 void disable_right_motor();
melse 0:227158f56a11 76
melse 4:e2d5ac8459a4 77 /** Enable the left motor, by driving enable pin for the second motor high...
screamer 7:887c729fd7c1 78 */
melse 2:118efce95f3c 79 void enable_left_motor();
melse 4:e2d5ac8459a4 80
melse 4:e2d5ac8459a4 81 /** Enable the left motor, by driving enable pin for the first motor high...
screamer 7:887c729fd7c1 82 */
melse 2:118efce95f3c 83 void enable_right_motor();
melse 0:227158f56a11 84
melse 4:e2d5ac8459a4 85 /** Stop a chosen motor.
melse 4:e2d5ac8459a4 86 * @param motor Number, either 1 or 2 choosing the motor.
screamer 7:887c729fd7c1 87 */
melse 2:118efce95f3c 88 void stop(int motor);
melse 0:227158f56a11 89
screamer 7:887c729fd7c1 90 /** Stop left motor.
screamer 7:887c729fd7c1 91 */
screamer 7:887c729fd7c1 92 void stopLeft();
screamer 7:887c729fd7c1 93
screamer 7:887c729fd7c1 94 /** Stop right motor.
screamer 7:887c729fd7c1 95 */
screamer 7:887c729fd7c1 96 void stopRight();
screamer 7:887c729fd7c1 97
screamer 7:887c729fd7c1 98 /** Stop both motors at the same time. Different to disable.
screamer 7:887c729fd7c1 99 */
screamer 7:887c729fd7c1 100 void stopAll();
screamer 7:887c729fd7c1 101
melse 0:227158f56a11 102 // Need to do something to do with detected line...
melse 0:227158f56a11 103
melse 4:e2d5ac8459a4 104 /** Gives an indication of the data given by the reflectivity sensors.
screamer 7:887c729fd7c1 105 */
melse 1:5c40f2a5e1ac 106 float line_position();
melse 0:227158f56a11 107
melse 0:227158f56a11 108 DigitalIn rightSensor;
melse 0:227158f56a11 109 DigitalIn inRightSensor;
melse 0:227158f56a11 110 DigitalIn centreSensor;
melse 0:227158f56a11 111 DigitalIn inLeftSensor;
melse 0:227158f56a11 112 DigitalIn leftSensor;
melse 0:227158f56a11 113
melse 0:227158f56a11 114 private:
melse 0:227158f56a11 115 PwmOut motor1A;
melse 0:227158f56a11 116 DigitalOut motor1B;
melse 0:227158f56a11 117 DigitalOut motor1En;
melse 0:227158f56a11 118
melse 0:227158f56a11 119 PwmOut motor2A;
melse 0:227158f56a11 120 DigitalOut motor2B;
melse 0:227158f56a11 121 DigitalOut motor2En;
melse 0:227158f56a11 122 };