Diff: Shieldbot.cpp

Revision:

1:2e4287fdc918

Parent:

0:fc1b473bfa7f

--- a/Shieldbot.cpp	Tue Aug 11 04:49:45 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,239 +0,0 @@
-/*
-  Created to support the release of the Sheildbot from SeeedStudios
-  http://www.seeedstudio.com/wiki/Shield_Bot
-
-  Created by Jacob Rosenthal and Colin Ho, December 30, 2012.
-  Released into the public domain.
-*/
-
-// include core Wiring API
-#include "mbed.h"
-
-// include this library's description file
-#include "Shieldbot.h"
-
-#define SHIELDBOTDEBUG 0
-// for shieldbot Version 0.9 and 1.0
- 
-/*#define right1 5			//define I1 interface
-#define speedPinRight 6  	//enable right motor (bridge A)
-#define right2 7      		//define I2 interface 
-#define left1 8      		//define I3 interface 
-#define speedPinLeft 9  	//enable motor B
-#define left2 10     		//define I4 interface */
- 
-// for shieldbot Version 1.1, we changed to the driver pins ,
-//if you shieldbot is ver1.0 or 0.9, please using the above pin mapping;
-#define right1 PTA0			//define I1 interface
-#define speedPinRight PTC4 	//enable right motor (bridge A)
-#define right2 PTD2      		//define I2 interface 
-#define left1 PTD3      		//define I3 interface 
-#define speedPinLeft PTD0  	//enable motor B
-#define left2 PTD1    		//define I4 interface 
-
-#define finder1 PTB2   		//define line finder S1
-#define finder2 PTB3   		//define line finder S2
-#define finder3 PTB10   		//define line finder S3
-#define finder4 PTB11   		//define line finder S4
-#define finder5 PTC11    		//define line finder S5
-
-int speedmotorA = 255; //define the speed of motorA
-int speedmotorB = 255; //define the speed of motorB
-  
-
-
-Shieldbot::Shieldbot()
-{
-  DigitalOut right1(PTA0);
-  DigitalOut right2(PTD2);
-  PwmOut speedPinRight(PTC4);
-  speedPinRight.period(0.002f);
-  DigitalOut left1(PTD3);
-  DigitalOut left2(PTD1);
-  PwmOut speedPinLeft(PTD0);
-  speedPinLeft.period(0.002f);
-  DigitalIn finder1(PTB2);
-  DigitalIn finder2(PTB3);
-  DigitalIn finder3(PTB10);
-  DigitalIn finder4(PTB11);
-  DigitalIn finder5(PTC11);
-}
-
-
-
-//sets same max speed to both motors
-void Shieldbot::setMaxSpeed(int both){
-  setMaxLeftSpeed(both);
-  setMaxRightSpeed(both);
-}
-
-void Shieldbot::setMaxSpeed(int left, int right){
-  setMaxLeftSpeed(left);
-  setMaxRightSpeed(right);
-}
-
-void Shieldbot::setMaxLeftSpeed(int left){
-  speedmotorB=left;
-}
-
-void Shieldbot::setMaxRightSpeed(int right){
-  speedmotorA=right;
-}
-
-int Shieldbot::readS1(){
-  return finder1;
-}
-
-int Shieldbot::readS2(){
-  return finder2;
-}
-
-int Shieldbot::readS3(){
-  return finder3;
-}
-
-int Shieldbot::readS4(){
-  return finder4;
-}
-
-int Shieldbot::readS5(){
-  return finder5;
-}
-
-void Shieldbot::drive(char left, char right){
-  rightMotor(right);
-  leftMotor(left);
-}
-
-//char is 128 to 127
-//mag is the direction to spin the right motor
-//-128 backwards all the way
-//0 dont move
-//127 forwards all the way
-void Shieldbot::rightMotor(char mag){
-  int actualSpeed = 0;
-  DigitalOut right1(PTA0);
-  DigitalOut right2(PTD2);
-  PwmOut speedPinRight(PTC4);
-  speedPinRight.period(0.002f);
-  DigitalOut left1(PTD3);
-  DigitalOut left2(PTD1);
-  PwmOut speedPinLeft(PTD0);
-  speedPinLeft.period(0.002f);
- 
-
-  if(mag >0){ //forward
-    float ratio = (float)mag/128;
-    actualSpeed = (int)(ratio*speedmotorA); //define your speed based on global speed
-	#if SHIELDBOTDEBUG
-      Serial.print("forward right: ");
-      Serial.println(actualSpeed);
-	#endif
-    speedPinRight.write(actualSpeed);
-    right1=0;
-    right2=1;//turn right motor clockwise
-  }else if(mag == 0){ //neutral
-	#if SHIELDBOTDEBUG
-      Serial.println("nuetral right");
-	#endif
-	stopRight();
-  }else { //meaning backwards
-    float ratio = (float)abs(mag)/128;
-    actualSpeed = ratio*speedmotorA;
-	#if SHIELDBOTDEBUG
-      Serial.print("backward right: ");
-      Serial.println(actualSpeed);
-	#endif
-    speedPinRight.write(actualSpeed);
-    right1=1;
-    right2=0;//turn right motor counterclockwise
-  }
-}
-
-//TODO shouldnt these share one function and just input the differences?
-void Shieldbot::leftMotor(char mag){
-  DigitalOut right1(PTA0);
-  DigitalOut right2(PTD2);
-  PwmOut speedPinRight(PTC4);
-  speedPinRight.period(0.002f);
-  DigitalOut left1(PTD3);
-  DigitalOut left2(PTD1);
-  PwmOut speedPinLeft(PTD0);
-  speedPinLeft.period(0.002f);
-
-  
-  int actualSpeed = 0;  
-  if(mag >0){ //forward
-    float ratio = (float)(mag)/128;
-    actualSpeed = (int)(ratio*speedmotorB); //define your speed based on global speed
-	#if SHIELDBOTDEBUG
-      Serial.print("forward left: ");
-      Serial.println(actualSpeed);
-	#endif
-    speedPinLeft.write(actualSpeed);
-    left1=0;
-    left2=1;//turn left motor counter-clockwise
-  }else if(mag == 0){ //neutral
-	#if SHIELDBOTDEBUG
-      Serial.println("nuetral left");
-	#endif
-	stopLeft();
-  }else { //meaning backwards
-    float ratio = (float)abs(mag)/128;
-    actualSpeed = ratio*speedmotorB;
-	#if SHIELDBOTDEBUG
-      Serial.print("backward left: ");
-      Serial.println(actualSpeed);
-	#endif
-    speedPinLeft.write(actualSpeed);
-    left1=1;
-    left2=0;//turn left motor counterclockwise
-  }
-}
-
-void Shieldbot::forward(){
-  leftMotor(127);
-  rightMotor(127); 
-}
-
-void Shieldbot::backward(){
-  leftMotor(-128);
-  rightMotor(-128); 
-}
-
-void Shieldbot::stop(){
-  stopLeft();
-  stopRight();
-}
-
-void Shieldbot::stopLeft(){
-  PwmOut speedPinLeft(PTD0);
-  speedPinLeft.write(0);
-}
-
-void Shieldbot::stopRight(){
-  PwmOut speedPinRight(PTC4);
-  speedPinRight.write(0);
-}
-
-//may be dangerous to motor if reverse current into hbridge exceeds 2A
-void Shieldbot::fastStopLeft(){
-  DigitalOut left1(PTD3);
-  DigitalOut left2(PTD1);
-  left1=1;
-  left2=1;//turn DC Motor B move clockwise
-}
-
-//may be dangerous to motor if reverse current into hbridge exceeds 2A
-void Shieldbot::fastStopRight(){
-  DigitalOut right1(PTA0);
-  DigitalOut right2(PTD2);
-  right1=1;
-  right2=1;//turn DC Motor A move anticlockwise
-}
-
-//may be dangerous to motor if reverse current into hbridge exceeds 2A
-void Shieldbot::fastStop(){
-	fastStopRight();
-	fastStopLeft();
-}