Microbit_function.cpp

00001 
00002 #include "Microbit_function.h"
00003 #include "mbed.h"
00004 
00005 MicroBit uBit;
00006 
00007 // These MiroBit images are used by the Display function to indicate what direction the buggy will travel in.
00008 MicroBitImage arrow_Up("0,0,1,0,0\n0,1,1,1,0\n1,0,1,0,1\n0,0,1,0,0\n0,0,1,0,0\n");
00009 MicroBitImage arrow_Down("0,0,1,0,0\n0,0,1,0,0\n1,0,1,0,1\n0,1,1,1,0\n0,0,1,0,0\n");
00010 MicroBitImage arrow_Left("0,0,1,0,0\n0,1,0,0,0\n1,1,1,1,1\n0,1,0,0,0\n0,0,1,0,0\n");
00011 MicroBitImage arrow_Right("0,0,1,0,0\n0,0,0,1,0\n1,1,1,1,1\n0,0,0,1,0\n0,0,1,0,0\n");
00012 MicroBitImage arrow_TopLeft("1,1,1,0,0\n1,1,0,0,0\n1,0,1,0,0\n0,0,0,1,0\n0,0,0,0,1\n");
00013 MicroBitImage arrow_TopRight("0,0,1,1,1\n0,0,0,1,1\n0,0,1,0,1\n0,1,0,0,0\n1,0,0,0,0\n");
00014 MicroBitImage arrow_BottomLeft("0,0,0,0,1\n0,0,0,1,0\n1,0,1,0,0\n1,1,0,0,0\n1,1,1,0,0\n");
00015 MicroBitImage arrow_BottomRight("1,0,0,0,0\n0,1,0,0,0\n0,0,1,0,1\n0,0,0,1,1\n0,0,1,1,1\n");
00016 MicroBitImage cross("1,0,0,0,1\n0,1,0,1,0\n0,0,1,0,0\n0,1,0,1,0\n1,0,0,0,1\n");
00017 MicroBitImage On("1,1,1,1,1\n1,1,1,1,1\n1,1,1,1,1\n1,1,1,1,1\n1,1,1,1,1\n");
00018 
00019 //
00020 MicroBitPin P0(MICROBIT_ID_IO_P0, MICROBIT_PIN_P0, PIN_CAPABILITY_ALL); 
00021 MicroBitPin P1(MICROBIT_ID_IO_P1, MICROBIT_PIN_P1, PIN_CAPABILITY_ALL); 
00022 
00023 extern void microBit_Setup()
00024 {
00025     uBit.init();
00026 }
00027 
00028 extern void Display(Direction Current_Direction) // This function is used to simply display the direction the motors are turning
00029 {
00030     switch(Current_Direction) // Displays the related arrow accoring to which direction the buggy is moving in.
00031     {
00032         case Up:            uBit.display.printAsync(arrow_Up);           break;
00033         case Down:          uBit.display.printAsync(arrow_Down);         break;
00034         case Right:         uBit.display.printAsync(arrow_Right);        break;
00035         case Left:          uBit.display.printAsync(arrow_Left);         break;
00036         case TopLeft:       uBit.display.printAsync(arrow_TopLeft);      break;
00037         case BottomLeft:    uBit.display.printAsync(arrow_BottomLeft);   break;
00038         case TopRight:      uBit.display.printAsync(arrow_TopRight);     break;
00039         case BottomRight:   uBit.display.printAsync(arrow_BottomRight);  break;
00040         case Stop:          uBit.display.printAsync(cross);              break;
00041         case Clear:         uBit.display.clear();                        break;
00042     }
00043 }
00044 extern void pointNorth() //This function Will direct the buggy to face North
00045 {
00046     int direction = uBit.compass.heading(); //Declare a variable to store the direction in
00047     while((direction > 2) && (direction < 358)) // While it is not facing north
00048     {
00049         if (direction <= 180) // if it is less then 180 then turn left
00050         {
00051             left(0.1);
00052         }
00053         if (direction > 180) // if it is more then 180 then turn right
00054         {
00055             right(0.1);
00056         }
00057         direction = uBit.compass.heading(); // check the direction again
00058     }
00059 }
00060 
00061 extern void pointSouth() // this function is similar to hedNorth but will point to South instead
00062 {
00063     int direction = uBit.compass.heading(); //Declares a variable which will be used to store the direction
00064     while((direction < 178) || (direction > 182)) //While it is not pointing South
00065     {
00066         if ((direction > 180) && (direction <= 360)) // if it is between 180 and 360 turn left.
00067         {
00068             left(0.1);
00069         }
00070         if ((direction > 0) && (direction <=180)) // if it is less than 180 turn right.
00071         {
00072             right(0.1);
00073         }
00074         direction = uBit.compass.heading(); // check the direction again
00075     }
00076 }
00077 
00078 extern Compass_Dirs Compass() // this function is designed to display the direction the microbit is facing, and returns that value.
00079 {
00080     int direction = uBit.compass.heading(); // declare a variable to be used for storing the direction.
00081     if((direction < 45) || (direction >= 325)) // if the direciton is pointing generally north then output North.
00082     {
00083         uBit.display.print("N");
00084         return North;
00085     }
00086     else if((direction < 135) && (direction >= 45)) // if the direction is generally east then output east.
00087     {
00088         uBit.display.print("E");
00089         return East;
00090     }
00091     else if((direction < 225) && (direction >= 135)) // if the direction is generally South then output south
00092     {
00093         uBit.display.print("S");
00094         return South;
00095     }
00096     else if((direction < 325) && (direction >= 225)) // if the direction is generally West then output West.
00097     {
00098         uBit.display.print("W");
00099         return West;
00100     }
00101     return Default;
00102 }
00103 
00104 extern int left_Sensor()// This function returns the analogue voltage on the left sensor.
00105 {
00106     return P0.getAnalogValue(); //This is the function that actually get the voltage.
00107 }
00108 
00109 extern int right_Sensor() //This function returns the analogue voltage of the right sensor.
00110 {
00111     return P1.getAnalogValue(); //gets the voltage on P1, should be connected to the right sensor.
00112 }