Alexander Doppler / Mbed 2 deprecated Bertl_Test

Bertl

Dependencies:   HCSR mbed

ur_Bertl.h@0:ae8f51bac163, 2015-04-23 (annotated)

Committer:
Alexander400
Date:
Thu Apr 23 12:04:34 2015 +0000
Revision:
0:ae8f51bac163
Bertl

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Alexander400 0:ae8f51bac163 1 /***********************************
Alexander400 0:ae8f51bac163 2 name: ur_Bertl.h Version: 1.0
Alexander400 0:ae8f51bac163 3 author: PE HTL BULME
Alexander400 0:ae8f51bac163 4 email: pe@bulme.at
Alexander400 0:ae8f51bac163 5 description:
Alexander400 0:ae8f51bac163 6 Definition portion of the class ur_Bertl The Robot
Alexander400 0:ae8f51bac163 7
Alexander400 0:ae8f51bac163 8
Alexander400 0:ae8f51bac163 9 ***********************************/
Alexander400 0:ae8f51bac163 10 #include "mbed.h"
Alexander400 0:ae8f51bac163 11
Alexander400 0:ae8f51bac163 12 #ifndef UR_BERTL_H
Alexander400 0:ae8f51bac163 13 #define UR_BERTL_H
Alexander400 0:ae8f51bac163 14
Alexander400 0:ae8f51bac163 15 #define LEFTSENSOR P1_12
Alexander400 0:ae8f51bac163 16 #define RIGHTSENSOR P1_13
Alexander400 0:ae8f51bac163 17 /********************************************//**
Alexander400 0:ae8f51bac163 18 name: ur_Bertl.h
Alexander400 0:ae8f51bac163 19 version: 1.0
Alexander400 0:ae8f51bac163 20 author: PE HTL BULME.
Alexander400 0:ae8f51bac163 21 email: pe@bulme.at
Alexander400 0:ae8f51bac163 22 description:
Alexander400 0:ae8f51bac163 23 Definition and documentation portion of the class ur_Bertl The Robot.
Alexander400 0:ae8f51bac163 24
Alexander400 0:ae8f51bac163 25 ***********************************************/
Alexander400 0:ae8f51bac163 26 /**
Alexander400 0:ae8f51bac163 27 @code
Alexander400 0:ae8f51bac163 28 //
Alexander400 0:ae8f51bac163 29 @endcode
Alexander400 0:ae8f51bac163 30
Alexander400 0:ae8f51bac163 31 Example motor sensor test:
Alexander400 0:ae8f51bac163 32 @code
Alexander400 0:ae8f51bac163 33 #include "mbed.h"
Alexander400 0:ae8f51bac163 34 #include "ur_Bertl.h"
Alexander400 0:ae8f51bac163 35 #include "const.h"
Alexander400 0:ae8f51bac163 36
Alexander400 0:ae8f51bac163 37 int main()
Alexander400 0:ae8f51bac163 38 {
Alexander400 0:ae8f51bac163 39 ur_Bertl karel(LEFTSENSOR); // RIGHTSENSOR
Alexander400 0:ae8f51bac163 40
Alexander400 0:ae8f51bac163 41 while(true) {
Alexander400 0:ae8f51bac163 42 karel.NibbleLeds(karel.Read());
Alexander400 0:ae8f51bac163 43 }
Alexander400 0:ae8f51bac163 44 }
Alexander400 0:ae8f51bac163 45 @endcode
Alexander400 0:ae8f51bac163 46
Alexander400 0:ae8f51bac163 47 Example moving the robot around:
Alexander400 0:ae8f51bac163 48 @code
Alexander400 0:ae8f51bac163 49 #include "mbed.h"
Alexander400 0:ae8f51bac163 50 #include "ur_Bertl.h"
Alexander400 0:ae8f51bac163 51 #include "const.h"
Alexander400 0:ae8f51bac163 52
Alexander400 0:ae8f51bac163 53 int main()
Alexander400 0:ae8f51bac163 54 {
Alexander400 0:ae8f51bac163 55 ur_Bertl karel;
Alexander400 0:ae8f51bac163 56
Alexander400 0:ae8f51bac163 57 while(karel.WaitUntilButtonPressed()){}
Alexander400 0:ae8f51bac163 58 //karel.Move();
Alexander400 0:ae8f51bac163 59 karel.TurnLeft();
Alexander400 0:ae8f51bac163 60 karel.ShutOff();
Alexander400 0:ae8f51bac163 61 }
Alexander400 0:ae8f51bac163 62 @endcode
Alexander400 0:ae8f51bac163 63
Alexander400 0:ae8f51bac163 64 Example LEDs:
Alexander400 0:ae8f51bac163 65 @code
Alexander400 0:ae8f51bac163 66 #include "mbed.h"
Alexander400 0:ae8f51bac163 67 #include "ur_Bertl.h"
Alexander400 0:ae8f51bac163 68 #include "const.h"
Alexander400 0:ae8f51bac163 69
Alexander400 0:ae8f51bac163 70 int main()
Alexander400 0:ae8f51bac163 71 {
Alexander400 0:ae8f51bac163 72 ur_Bertl karel;
Alexander400 0:ae8f51bac163 73
Alexander400 0:ae8f51bac163 74 while(karel.WaitUntilButtonPressed()){}
Alexander400 0:ae8f51bac163 75
Alexander400 0:ae8f51bac163 76 karel.TurnLedOn(LED_FL1 | LED_FR1); // see const.h
Alexander400 0:ae8f51bac163 77 wait(1);
Alexander400 0:ae8f51bac163 78 karel.TurnLedOn(0xFF); // or use hex
Alexander400 0:ae8f51bac163 79 wait(1);
Alexander400 0:ae8f51bac163 80 karel.RGBLed(1,0,0); // red
Alexander400 0:ae8f51bac163 81 wait(1);
Alexander400 0:ae8f51bac163 82 karel.RGBLed(0,1,0); // green
Alexander400 0:ae8f51bac163 83 wait(1);
Alexander400 0:ae8f51bac163 84 karel.RGBLed(0,0,1); // blue
Alexander400 0:ae8f51bac163 85 karel.BlueLedsON();
Alexander400 0:ae8f51bac163 86 karel.NibbleLeds(karel.Read());
Alexander400 0:ae8f51bac163 87 wait(1);
Alexander400 0:ae8f51bac163 88 karel.BlueLedsOFF();
Alexander400 0:ae8f51bac163 89 karel.TurnLedOff(0xFF);
Alexander400 0:ae8f51bac163 90 karel.ShutOff();
Alexander400 0:ae8f51bac163 91 }
Alexander400 0:ae8f51bac163 92 @endcode
Alexander400 0:ae8f51bac163 93 */
Alexander400 0:ae8f51bac163 94 class ur_Bertl
Alexander400 0:ae8f51bac163 95 {
Alexander400 0:ae8f51bac163 96 protected:
Alexander400 0:ae8f51bac163 97 int beepersInBag; /**< how many beepers does the robot have in his bag*/
Alexander400 0:ae8f51bac163 98 char cmd[3]; /**< I2C command */
Alexander400 0:ae8f51bac163 99 int16_t btns; /**< which button is pressed */
Alexander400 0:ae8f51bac163 100 InterruptIn _interrupt; /**< interrupted used*/
Alexander400 0:ae8f51bac163 101 volatile int _count; /**< values of motor sensor*/
Alexander400 0:ae8f51bac163 102
Alexander400 0:ae8f51bac163 103 /**
Alexander400 0:ae8f51bac163 104 protected methodes for internal purposes only
Alexander400 0:ae8f51bac163 105 */
Alexander400 0:ae8f51bac163 106 void increment(); /**< ISR to increment sensor values of motor */
Alexander400 0:ae8f51bac163 107 bool backIsClear(); /**< don't now for what */
Alexander400 0:ae8f51bac163 108 bool frontButtonPressed();/**< TRUE if a a button on the front of Robot is pressed else FALSE */
Alexander400 0:ae8f51bac163 109 void error(); /**< Error: stops the robot and all LEDs are blinking*/
Alexander400 0:ae8f51bac163 110
Alexander400 0:ae8f51bac163 111 public:
Alexander400 0:ae8f51bac163 112 ur_Bertl(); /**< default constructor; you have to define constants in config.h such as SPEED, DISTANCE or ANGLE*/
Alexander400 0:ae8f51bac163 113 ur_Bertl(PinName pin); /**< parameterized constructor; on what pin should the interrupt work; SPEED, DISTANCE or ANGLE have to bee defined in config.h */
Alexander400 0:ae8f51bac163 114
Alexander400 0:ae8f51bac163 115 void Move(); /**< Robot moves one turn as much as the constant DISTANCE; if one of the buttons fire --> Error()*/
Alexander400 0:ae8f51bac163 116 void TurnLeft(); /**< Robot turns left as much as the constant ANGLE*/
Alexander400 0:ae8f51bac163 117 void PutBeeper(); /**< if Robot has any Beepers in his bag he can put one or more Beeper; if not --> Error(()*/
Alexander400 0:ae8f51bac163 118 void PickBeeper(); /**< if Robot stands on a black item he can pick one or more Beeper (max. 16 --> Error()); if not --> Error()*/
Alexander400 0:ae8f51bac163 119 void NibbleLeds(int value); /**< methode for the 4 (half byte) yellow LEDs at the back left side */
Alexander400 0:ae8f51bac163 120 void TurnLedOn(int16_t led);/**< turns the specified one or more LEDs ON; description and name in const.h, such as LED_FL1 = 0x01; front LED white */
Alexander400 0:ae8f51bac163 121 void TurnLedOff(int16_t led);/**< turns the specified one or more LEDs OFF; description and name in const.h, such as LED_FL1 = 0x01; front LED white */
Alexander400 0:ae8f51bac163 122 bool WaitUntilButtonPressed(); /**< wait until any button is pressed at the robot */
Alexander400 0:ae8f51bac163 123 void RGBLed(bool red, bool green, bool blue); /**<RGB Led with red, green and blue component of the Color */
Alexander400 0:ae8f51bac163 124 void BlueLedsOFF(); /**< OFF all blue LEDs which are on the same Port 1_28 */
Alexander400 0:ae8f51bac163 125 void BlueLedsON(); /**< ON all blue LEDs which are on the same Port 1_28 */
Alexander400 0:ae8f51bac163 126 void ShutOff(); /**< turnes the robot off */
Alexander400 0:ae8f51bac163 127 int Read();
Alexander400 0:ae8f51bac163 128 };
Alexander400 0:ae8f51bac163 129 #endif