A program designed to run on the microbit. Used for driving a buggy.
Diff: buggy_function.cpp
- Revision:
- 0:4aa6e1498925
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/buggy_function.cpp Mon Mar 27 12:14:03 2017 +0000 @@ -0,0 +1,169 @@ +/********************************************************* +*buggy_functions.cpp * +*Author: Elijah Orr & Dan Argust * +* * +*A library of functions that can be used to control the * +*RenBuggy. * +*********************************************************/ + +#ifndef BUGGY_FUNCTIONS_C +#define BUGGY_FUNCTIONS_C + +/* necessary includes */ +#include "mbed.h" +#include "buggy_function.h" +#include "Microbit_function.h" + +//Trim is an offset that you can adjust to help the buggy drive straight +//Trim = -0.2 is a left trim +//Trim = 0.2 is a right trim +float trim = 0.0; + +//Set up PWM on both left and right motor pins. +PwmOut Lmotor(LeftMotorPin); +PwmOut Rmotor(RightMotorPin); + +Direction Current_Direction = Up; + +//DigitalIn is used as a button +DigitalIn CurrentButtonState(p7); +//This bool is used to store the buttons state (pressed/not pressed) +bool LastButtonState = 0; + + +/* Functions (listed below) contain the code that runs the buggy. +These functions can be used in the main.cpp file */ + + +extern void hold(float time) //waits for (time) seconds +{ + //seg.DisplayDigits(0,0); //Displays the digits 0 and 0 + for (float i = time;i>0;i-=0.01){ //For every hundreth of a second, display the time remaining + Display(Current_Direction); + wait(0.01); + } + Display(Clear); +} + +extern void forward(float time) //moves forward for (time) seconds +{ + Lmotor = 0.7 + trim; + Rmotor = 0.7 - trim; //set the left and right motor to 1.0 (full speed) - the trim offset + Current_Direction = Up; + hold(time); //wait for (time) seconds while the motors are on + stop(); //stops the motors +} + +extern void left(float time) //moves left for (time) seconds +{ + Lmotor = 0.0; //set the right motor to full speed + Rmotor = 0.7 - trim; //set the left motor to off + Current_Direction = Left; + hold(time); //waits for (time) seconds + stop(); //stops the motors +} + +extern void right(float time) //moves right for (time) seconds +{ + Lmotor = 0.7 + trim; //set the left motor to full speed + Rmotor = 0.0; //set the right motor to off + Current_Direction = Right; + hold(time); //waits for (time) seconds + stop(); //stops the motors +} + +extern void bear_Right(float time) //keeps both motors turning but will turn right +{ + Lmotor = 0.7 + trim; //sets the left motor to full speed + Rmotor = 0.1; // sets the right motor to move slowly + Current_Direction = TopRight; //Sets the direction to be top right + hold(time); // wait for (time) seconds. + stop(); // stops both motors. +} + +extern void bear_Left(float time) // keeps both motors turning but it should slowly turn left +{ + Lmotor = 0.1; // sets the left motor to move slowly + Rmotor = 0.7 - trim; // sets the right motor to move at full speed + Current_Direction = TopLeft; // sets the direction to be the top left. + hold(time); // wait for (time) seconds + stop(); // stops both motors +} +extern void stop() //stops the motors +{ + Lmotor = Rmotor = 0; //set the speed of each motor to 0 + Current_Direction = Stop; +} + +extern void readButton(float time) //checks if the button is pressed for (time) seconds +{ + //seg.DisplayDigits(0,0); //displays 0 0 on the seven segment display + for (float i = time;i>0;i-=0.01) //for each hundreth of a seconds check if the button state goes from low to high (eg. pressed) + { + if (CurrentButtonState == 1 and LastButtonState == 0){ + rollDice(); //rolls the dice if the button is pressed + } + LastButtonState = CurrentButtonState; + wait(0.01); + } +} + +extern int rollDice() //a function that randomly generates a number and displays it on the seven segment display +{ + int tens; //declare two variables, tens and units to store the number to be displayed + int units; + for (int i = 20;i>0;i--){ + tens = rand()%9; //generate a random number from 0-9 and store it in "tens" + units = rand()%9; + //seg.DisplayDigits(tens,units); //display the numbers stored in tens and units + wait(0.04); + } + return tens*10+units; +} + +extern void follow_Line(float time) //a function that uses the built in ADCs to command the buggy to follow a black line for time. +{ + int direction_Data; //declares a variable uses to store the direction data. + for (float i = time; i > 0 ; i -= follow_Speed) // will repeat until time is up. + { + direction_Data = left_Sensor() - right_Sensor(); //Compare left sensor and right sensor. + //if direction data is positive then the right sensor is on white. + //if direction data is negative then the left sensor is on white. + if(direction_Data > 100) //data direction is significantly positive. + { + left(follow_Speed); //turns left for follow_Speed. + } + else if (direction_Data < -100 ) //data direction is significantly negative + { + right(follow_Speed); // turns right for follow_Speed + } + else // else if both sensors are within each other. + { + forward(follow_Speed); // heads forward for follow_Speed. + } + } +} + +extern void follow_Line() // a functoin that will follow a black line forever. +{ + int direction_Data; //declares a variable used to store the direction data. + for (;;) //This creates a loop which will go on forever. + { + direction_Data = left_Sensor() - right_Sensor(); // Combines both sets of direction data into one variable. + if(direction_Data > 100) // if direction data is signficantly positive + { + left(follow_Speed);// Turn left, as the buggy is leaving the black line. + } + else if (direction_Data < -100 ) // if direction data is significantly negative + { + right(follow_Speed); //turn right, as the buggy is leaving the black line. + } + else // if neither other conditions are met then go forward. + { + forward(follow_Speed); // go forward, as the buggy is on the black line. + } + } +} + + +#endif // BUGGY_FUNCTIONS_C \ No newline at end of file