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SeeedStudioShieldBot.cpp@7:887c729fd7c1, 2014-07-31 (annotated)
- Committer:
- screamer
- Date:
- Thu Jul 31 14:29:50 2014 +0000
- Revision:
- 7:887c729fd7c1
- Parent:
- 2:118efce95f3c
Changed constructor to accept pin parameters (instead of static ones); Added turn_left/right() and stopLeft/Right();; Fixed documentation
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
melse | 0:227158f56a11 | 1 | #include "SeeedStudioShieldBot.h" |
melse | 0:227158f56a11 | 2 | #include "mbed.h" |
melse | 0:227158f56a11 | 3 | |
melse | 0:227158f56a11 | 4 | |
screamer | 7:887c729fd7c1 | 5 | SeeedStudioShieldBot::SeeedStudioShieldBot( |
screamer | 7:887c729fd7c1 | 6 | PinName mot1A, PinName mot1En, PinName mot1B, |
screamer | 7:887c729fd7c1 | 7 | PinName mot2A, PinName mot2En, PinName mot2B, |
screamer | 7:887c729fd7c1 | 8 | PinName sensor_right, PinName sensor_inright, PinName sensor_center, PinName sensor_inleft, PinName sensor_left |
screamer | 7:887c729fd7c1 | 9 | ) : |
screamer | 7:887c729fd7c1 | 10 | motor1A(mot1A), motor1En(mot1En), motor1B(mot1B), |
screamer | 7:887c729fd7c1 | 11 | motor2A(mot2A), motor2En(mot2En), motor2B(mot2B), |
screamer | 7:887c729fd7c1 | 12 | rightSensor(sensor_right), inRightSensor(sensor_inright), centreSensor(sensor_center), inLeftSensor(sensor_inleft), leftSensor(sensor_left) |
screamer | 7:887c729fd7c1 | 13 | { |
melse | 0:227158f56a11 | 14 | // Something should go here... |
melse | 0:227158f56a11 | 15 | } |
melse | 0:227158f56a11 | 16 | |
screamer | 7:887c729fd7c1 | 17 | void SeeedStudioShieldBot::right_motor(float speed) |
screamer | 7:887c729fd7c1 | 18 | { |
melse | 0:227158f56a11 | 19 | // The bit that's actually needed... |
melse | 0:227158f56a11 | 20 | if (speed >= 0) { |
melse | 0:227158f56a11 | 21 | motor1A = speed; |
melse | 0:227158f56a11 | 22 | motor1B = 0; |
screamer | 7:887c729fd7c1 | 23 | } else { |
melse | 0:227158f56a11 | 24 | motor1A = 1 + speed; |
melse | 0:227158f56a11 | 25 | motor1B = 1; |
melse | 0:227158f56a11 | 26 | } |
melse | 0:227158f56a11 | 27 | } |
melse | 0:227158f56a11 | 28 | |
screamer | 7:887c729fd7c1 | 29 | void SeeedStudioShieldBot::left_motor(float speed) |
screamer | 7:887c729fd7c1 | 30 | { |
melse | 0:227158f56a11 | 31 | // Useful bit |
melse | 0:227158f56a11 | 32 | if (speed >= 0) { |
melse | 0:227158f56a11 | 33 | motor2A = speed; |
melse | 0:227158f56a11 | 34 | motor2B = 0; |
screamer | 7:887c729fd7c1 | 35 | } else { |
melse | 0:227158f56a11 | 36 | motor2A = 1 + speed; |
melse | 0:227158f56a11 | 37 | motor2B = 1; |
melse | 0:227158f56a11 | 38 | } |
melse | 0:227158f56a11 | 39 | } |
melse | 0:227158f56a11 | 40 | |
melse | 0:227158f56a11 | 41 | // The following two functions turn the robot on the spot... |
melse | 0:227158f56a11 | 42 | |
screamer | 7:887c729fd7c1 | 43 | void SeeedStudioShieldBot::left(float speed) |
screamer | 7:887c729fd7c1 | 44 | { |
melse | 0:227158f56a11 | 45 | left_motor(-speed); |
melse | 0:227158f56a11 | 46 | right_motor(speed); |
melse | 0:227158f56a11 | 47 | } |
melse | 0:227158f56a11 | 48 | |
screamer | 7:887c729fd7c1 | 49 | void SeeedStudioShieldBot::right(float speed) |
screamer | 7:887c729fd7c1 | 50 | { |
melse | 0:227158f56a11 | 51 | left_motor(speed); |
melse | 0:227158f56a11 | 52 | right_motor(-speed); |
melse | 0:227158f56a11 | 53 | } |
melse | 0:227158f56a11 | 54 | |
screamer | 7:887c729fd7c1 | 55 | void SeeedStudioShieldBot::turn_left(float speed) |
screamer | 7:887c729fd7c1 | 56 | { |
screamer | 7:887c729fd7c1 | 57 | left_motor(speed); |
screamer | 7:887c729fd7c1 | 58 | right_motor(0); |
screamer | 7:887c729fd7c1 | 59 | } |
screamer | 7:887c729fd7c1 | 60 | |
screamer | 7:887c729fd7c1 | 61 | void SeeedStudioShieldBot::turn_right(float speed) |
screamer | 7:887c729fd7c1 | 62 | { |
screamer | 7:887c729fd7c1 | 63 | left_motor(0); |
screamer | 7:887c729fd7c1 | 64 | right_motor(speed); |
screamer | 7:887c729fd7c1 | 65 | } |
screamer | 7:887c729fd7c1 | 66 | |
melse | 0:227158f56a11 | 67 | // Again, until we get PWM on the pin w/o PWM, there's no way we can really have this any other way than 1... |
melse | 0:227158f56a11 | 68 | // This is the case for both forwards and backwards... |
melse | 0:227158f56a11 | 69 | |
melse | 0:227158f56a11 | 70 | // FIXED, using jumper between pins 8 and 3 on top of the robot board... unfortunately it wastes an io pin, but is easier than using software IO. |
melse | 0:227158f56a11 | 71 | // It also means that the 'lid' can't go on top. |
melse | 0:227158f56a11 | 72 | |
screamer | 7:887c729fd7c1 | 73 | void SeeedStudioShieldBot::forward(float speed) |
screamer | 7:887c729fd7c1 | 74 | { |
melse | 0:227158f56a11 | 75 | if (speed == 0) { |
melse | 0:227158f56a11 | 76 | left_motor(0); |
melse | 0:227158f56a11 | 77 | right_motor(0); |
screamer | 7:887c729fd7c1 | 78 | } else { |
melse | 0:227158f56a11 | 79 | left_motor(speed); |
melse | 0:227158f56a11 | 80 | right_motor(speed); |
melse | 0:227158f56a11 | 81 | } |
melse | 0:227158f56a11 | 82 | } |
melse | 0:227158f56a11 | 83 | |
screamer | 7:887c729fd7c1 | 84 | void SeeedStudioShieldBot::backward(float speed) |
screamer | 7:887c729fd7c1 | 85 | { |
melse | 0:227158f56a11 | 86 | if (speed == 0) { |
melse | 0:227158f56a11 | 87 | left_motor(0); |
melse | 0:227158f56a11 | 88 | right_motor(0); |
screamer | 7:887c729fd7c1 | 89 | } else { |
melse | 0:227158f56a11 | 90 | left_motor(-speed); |
melse | 0:227158f56a11 | 91 | right_motor(-speed); |
melse | 0:227158f56a11 | 92 | } |
melse | 0:227158f56a11 | 93 | } |
melse | 0:227158f56a11 | 94 | |
screamer | 7:887c729fd7c1 | 95 | void SeeedStudioShieldBot::enable_right_motor() |
screamer | 7:887c729fd7c1 | 96 | { |
melse | 0:227158f56a11 | 97 | motor1En = 1; |
melse | 0:227158f56a11 | 98 | } |
melse | 0:227158f56a11 | 99 | |
screamer | 7:887c729fd7c1 | 100 | void SeeedStudioShieldBot::enable_left_motor() |
screamer | 7:887c729fd7c1 | 101 | { |
melse | 0:227158f56a11 | 102 | motor2En = 1; |
melse | 0:227158f56a11 | 103 | } |
melse | 0:227158f56a11 | 104 | |
screamer | 7:887c729fd7c1 | 105 | void SeeedStudioShieldBot::disable_right_motor() |
screamer | 7:887c729fd7c1 | 106 | { |
melse | 0:227158f56a11 | 107 | motor1En = 0; |
melse | 0:227158f56a11 | 108 | } |
melse | 0:227158f56a11 | 109 | |
screamer | 7:887c729fd7c1 | 110 | void SeeedStudioShieldBot::disable_left_motor() |
screamer | 7:887c729fd7c1 | 111 | { |
melse | 0:227158f56a11 | 112 | motor2En = 0; |
melse | 0:227158f56a11 | 113 | } |
melse | 0:227158f56a11 | 114 | |
melse | 0:227158f56a11 | 115 | // Give a value representative of the overall data received by the sensors... |
melse | 0:227158f56a11 | 116 | // Output between +1 and -1. |
melse | 0:227158f56a11 | 117 | // Positive is right, negative left... |
screamer | 7:887c729fd7c1 | 118 | float SeeedStudioShieldBot::line_position() |
screamer | 7:887c729fd7c1 | 119 | { |
screamer | 7:887c729fd7c1 | 120 | float output = 0; |
melse | 0:227158f56a11 | 121 | if (rightSensor == 1) { |
melse | 0:227158f56a11 | 122 | output += 0.5; |
melse | 0:227158f56a11 | 123 | } |
melse | 0:227158f56a11 | 124 | if (inRightSensor == 1) { |
melse | 1:5c40f2a5e1ac | 125 | output += 0.5; |
melse | 0:227158f56a11 | 126 | } |
melse | 0:227158f56a11 | 127 | if (leftSensor == 1) { |
melse | 0:227158f56a11 | 128 | output -= 0.5; |
melse | 0:227158f56a11 | 129 | } |
melse | 0:227158f56a11 | 130 | if (inLeftSensor == 1) { |
melse | 1:5c40f2a5e1ac | 131 | output -= 0.5; |
melse | 0:227158f56a11 | 132 | } |
screamer | 7:887c729fd7c1 | 133 | |
melse | 0:227158f56a11 | 134 | return output; |
melse | 0:227158f56a11 | 135 | } |
melse | 0:227158f56a11 | 136 | |
screamer | 7:887c729fd7c1 | 137 | void SeeedStudioShieldBot::stop(int motor) |
screamer | 7:887c729fd7c1 | 138 | { |
screamer | 7:887c729fd7c1 | 139 | if (motor == 1) { |
screamer | 7:887c729fd7c1 | 140 | stopLeft(); |
screamer | 7:887c729fd7c1 | 141 | } else if (motor == 2) { |
screamer | 7:887c729fd7c1 | 142 | stopRight(); |
screamer | 7:887c729fd7c1 | 143 | } |
screamer | 7:887c729fd7c1 | 144 | } |
screamer | 7:887c729fd7c1 | 145 | |
screamer | 7:887c729fd7c1 | 146 | void SeeedStudioShieldBot::stopLeft() |
screamer | 7:887c729fd7c1 | 147 | { |
melse | 0:227158f56a11 | 148 | motor1A = 0; |
melse | 0:227158f56a11 | 149 | motor1B = 0; |
screamer | 7:887c729fd7c1 | 150 | } |
screamer | 7:887c729fd7c1 | 151 | |
screamer | 7:887c729fd7c1 | 152 | void SeeedStudioShieldBot::stopRight() |
screamer | 7:887c729fd7c1 | 153 | { |
melse | 0:227158f56a11 | 154 | motor2A = 0; |
melse | 0:227158f56a11 | 155 | motor2B = 0; |
melse | 2:118efce95f3c | 156 | } |
melse | 2:118efce95f3c | 157 | |
screamer | 7:887c729fd7c1 | 158 | void SeeedStudioShieldBot::stopAll() |
screamer | 7:887c729fd7c1 | 159 | { |
screamer | 7:887c729fd7c1 | 160 | stopLeft(); |
screamer | 7:887c729fd7c1 | 161 | stopRight(); |
screamer | 7:887c729fd7c1 | 162 | } |