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
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