Revision 0:ae8f51bac163, committed 2015-04-23

Comitter:

Alexander400

Date:

Thu Apr 23 12:04:34 2015 +0000

Commit message:

Bertl

Changed in this revision

diff -r 000000000000 -r ae8f51bac163 Bertl_Bewegungen.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Bertl_Bewegungen.cpp	Thu Apr 23 12:04:34 2015 +0000
@@ -0,0 +1,8 @@
+#include "Bertl_Bewegungen.h"
+
+void Bertl_Bewegungen :: TurnRight(){
+    
+    for(int i = 0;i <3; i++){
+      TurnLeft();    
+    }
+}
\ No newline at end of file

diff -r 000000000000 -r ae8f51bac163 Bertl_Bewegungen.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Bertl_Bewegungen.h	Thu Apr 23 12:04:34 2015 +0000
@@ -0,0 +1,11 @@
+#include "ur_Bertl.h"
+
+#ifndef BERTL_BEWEGUNGEN_H
+#define BERTL_BEWEGUNGEN_H
+class Bertl_Bewegungen : public ur_Bertl{
+
+public:
+    void TurnRight();
+
+};
+#endif
\ No newline at end of file

diff -r 000000000000 -r ae8f51bac163 HCSR.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HCSR.lib	Thu Apr 23 12:04:34 2015 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/teams/BERTL_CHEL_18/code/HCSR/#92d1f0be3af4

diff -r 000000000000 -r ae8f51bac163 config.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/config.h	Thu Apr 23 12:04:34 2015 +0000
@@ -0,0 +1,60 @@
+/*! \file config.h
+\brief A Documented file.
+* name:   config.h    Version: 1.1
+* author: PE HTL BULME
+* email:  pe@bulme.at
+* description:
+*    Wiring for ur_Bertl The Robot
+*/
+
+#include "mbed.h"
+#include "hcsr04.h"
+#include "const.h"
+
+#ifndef CONFIG_H
+#define CONFIG_H
+/*! \def DEBUG
+\brief Turns debugging infos off (0) and on (3) which are send to serial pc.uart */
+#define DEBUG 0
+//#define FRONTBUTTON
+
+BusOut NibbleLEDs(P1_8, P1_9, P1_10, P1_11);   /**< 4 yellow LEDs as a bus defined */
+DigitalOut LED_D10(P1_8);    /**<  wiring first LED_D10 */
+DigitalOut LED_D11(P1_9);    /**<  wiring second LED_D11 */
+DigitalOut LED_D12(P1_10);   /**<  wiring thired LED_D12 */
+DigitalOut LED_D13(P1_11);   /**<  wiring fourth LED_D13 */
+
+DigitalOut LED_blue(P1_28);  /**<  all blue LEDs are on Port 1_28   */ 
+
+DigitalOut RGB_blue(P1_24);  /**< RGB blue component of the color uP -> Port 1_24 */
+DigitalOut RGB_red(P1_23);   /**< RGB red component of the color uP -> Port 1_23 */    
+DigitalOut RGB_green(P1_25); /**< RGB green component of the color uP -> Port 1_25 */ 
+
+//------------------ CHANGE ONLY IF NESSESARY -------------------------------------
+
+DigitalOut MotorL_EN(p34);    // wiring motor left
+DigitalOut MotorL_FORWARD(P1_1);
+DigitalOut MotorL_REVERSE(P1_0);
+
+DigitalOut MotorR_EN(p36);     // wiring motor right
+DigitalOut MotorR_FORWARD(P1_3);
+DigitalOut MotorR_REVERSE(P1_4);
+
+I2C i2c(p28,p27);   
+BusIn linesensor(p18, p16, p19, p17);  
+DigitalIn SensorL(P1_12);     /**<  motor sensor left on Port P1_12 */
+DigitalIn SensorR(P1_13);     /**<  motor sensor right on Port P1_13 */
+HCSR04  usensor(p21,p22);     // HC-SR04 ultrasonic sensor
+PwmOut mg1(P1_15);            // PWM out motor left
+PwmOut mg2(P0_21);            // PWM out motor right
+
+Serial pc(USBTX, USBRX);      // tx, rx  
+
+#if defined(DEBUG) && DEBUG > 0
+ #define DEBUG_PRINT(fmt, args...) fprintf(stderr, "DEBUG: %s:%d:%s(): " fmt, \
+    __FILE__, __LINE__, __func__, ##args)
+#else
+ #define DEBUG_PRINT(fmt, args...) /* Don't do anything in release builds */
+#endif
+
+#endif
\ No newline at end of file

diff -r 000000000000 -r ae8f51bac163 const.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/const.h	Thu Apr 23 12:04:34 2015 +0000
@@ -0,0 +1,52 @@
+/*! \file const.h
+\brief A Documented file.
+* name:   const.h    Version: 1.0
+* author: PE HTL BULME
+* email:  pe@bulme.at
+* description:
+*    Constants for ur_Bertl The Robot
+*/
+#ifndef CONST_H
+#define CONST_H
+
+/*! \var int SPEED
+\brief Bertl speed 0.2 (slow) - 1.0 (fast).
+\warning speed below 0.2 possible the motor won't start */
+const float SPEED = 0.2;    /*  Bertl speed 0.2 (slow) - 1.0 (fast) */
+/*! \var int DISTANCE
+\brief one wheel turn is appr. 24 ticks.
+\warning maybe the number has to be adjusted */
+const int DISTANCE = 24;    /*  one wheel turn is appr. 24 ticks */
+/*! \var int ANGLE
+\brief 12 is nearly 90 degree turn left.
+\warning maybe the number has to be adjusted */
+const int ANGLE = 12;       /*  nearly 90 degree turn left */
+
+const int BTN_FLL = 0x80;   //  button front left outer 
+const int BTN_FL  = 0x04;   // button front left
+const int BTN_FM  = 0x01;   // button front middle
+const int BTN_FR  = 0x08;   // button front right 
+const int BTN_FRR = 0x40;   // button front right outer
+const int BTN_BL  = 0x10;   // button back left
+const int BTN_BM  = 0x02;   // button back middle
+const int BTN_BR  = 0x20;   // button back right
+
+const int LED_FL1 = 0x01;   /**<  front LED white */
+const int LED_FL2 = 0x02;   /**< front LED yellow */
+const int LED_FR1 = 0x04;   /**< front LED white */
+const int LED_FR2 = 0x08;   /**< front LED yellow */
+const int LED_ALL_FRONT = 0x0F;
+
+const int LED_BL1 = 0x20;   /**< yellow LED back left outer */
+const int LED_BL2 = 0x10;   /**< red LED back left inner */
+const int LED_BR1 = 0x80;   /**< yellow LED back right outer */
+const int LED_BR2 = 0x40;   /**< red LED back right inner */
+const int LED_ALL_BACK = 0xF0;
+const int LED_ALL = 0xFF;
+
+const int addr = 0x40;       // I2C-address PCA9555
+const int PERIOD = 20;       // PWM period
+const int PULSWIDTH = 5;     // PWN pulswidth
+
+
+#endif
\ No newline at end of file

diff -r 000000000000 -r ae8f51bac163 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Apr 23 12:04:34 2015 +0000
@@ -0,0 +1,12 @@
+#include "mbed.h"
+#include "ur_Bertl.h"
+#include "const.h"
+#include "Bertl_Bewegungen.h"
+
+
+int main() {
+    
+    Bertl_Bewegungen karel;
+    karel.TurnRight();
+    
+}

diff -r 000000000000 -r ae8f51bac163 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Thu Apr 23 12:04:34 2015 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/9ad691361fac
\ No newline at end of file

diff -r 000000000000 -r ae8f51bac163 ur_Bertl.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ur_Bertl.cpp	Thu Apr 23 12:04:34 2015 +0000
@@ -0,0 +1,316 @@
+/***********************************
+name:   ur_Bertl.cpp    Version: 1.1
+author: PE HTL BULME
+email:  pe@bulme.at
+description:
+    Implementation portion of class ur_Bertl The Robot 
+    Blue LED and RGB LED test added
+      
+***********************************/
+#include "mbed.h"
+#include "config.h"
+#include "ur_Bertl.h"
+
+// Constructor
+ur_Bertl::ur_Bertl() : _interrupt(P1_12)            // left sensor P1_13
+{
+    i2c.frequency(40000);                           // I2C Frequenz 40kHz
+    mg1 = mg2 = SPEED;
+    _interrupt.rise(this, &ur_Bertl::increment);    // attach increment function of this counter instance ie. motor sensor
+    _count = 0;
+    beepersInBag = 0;
+}
+
+ur_Bertl::ur_Bertl(PinName pin) :  _interrupt(pin)  // create the InterruptIn on the pin specified to Counter
+{
+    i2c.frequency(40000);                           // I2C Frequenz 40kHz
+    mg1 = mg2 = SPEED;
+    _interrupt.rise(this, &ur_Bertl::increment);    // attach increment function of this counter instance ie. motor sensor
+    _count = 0;
+    beepersInBag = 0;
+}
+
+
+// Pulblic methodes
+void ur_Bertl::Move()
+{
+    int count = _count;
+    MotorR_EN=MotorL_EN=1;                  // both motor ENABLE
+    MotorR_FORWARD = MotorL_FORWARD = 1;    // both motor forward ON
+
+    while(_count < count+DISTANCE) {
+        //if(!FrontIsClear())       // more convenient because there are no accidents :-)
+          //  break;
+#ifdef FRONTBUTTON
+        if(frontButtonPressed())
+            error();
+#endif
+        DEBUG_PRINT("count: %d _count: %d", count, _count);
+    }
+    MotorR_FORWARD = MotorL_FORWARD = 0;    // both motor off
+    MotorR_EN=MotorL_EN=0;
+    wait_ms(250);
+}
+
+void ur_Bertl::PutBeeper()
+{
+//    wait_ms(500);
+    if(beepersInBag > 0)
+        beepersInBag--;
+    else
+        error();
+}
+
+void ur_Bertl::PickBeeper()
+{
+//    wait_ms(500);
+    if (linesensor)
+        beepersInBag++;
+    else 
+        error();   
+}
+
+void ur_Bertl::TurnLeft()
+{
+    int count = _count;
+    MotorR_EN=MotorL_EN=1;                  // motor left and right ENABLE
+
+    MotorR_FORWARD = MotorL_REVERSE = 1;
+    while(_count < count+ANGLE) {
+#ifdef FRONTBUTTON
+        if(frontButtonPressed())            // get out if to much problems
+            error();
+#endif
+        DEBUG_PRINT("count: %d _count: %d", count, _count);
+    }
+    MotorR_FORWARD = MotorL_REVERSE = 0;
+    MotorR_EN=MotorL_EN=0;
+    wait_ms(250);           // only to step the robot
+}
+
+bool ur_Bertl::WaitUntilButtonPressed()
+{
+    char cmd[3];
+    int16_t btns;
+    bool wert;
+
+    RGB_blue=RGB_red=RGB_green=0;
+    cmd[0] = 0x06;
+    cmd[1] = 0x00;
+    i2c.write(addr, cmd, 2); 
+
+    cmd[0]=0x01;
+    i2c.write(addr, cmd, 1);
+    i2c.read(addr|1, cmd, 1);
+    btns = cmd[0];
+    if( btns & (0xFF))
+        wert = false;
+    else
+        wert = true;
+    DEBUG_PRINT("\right\nWERT: %d \right\n", wert);
+    return wert;
+}
+
+void ur_Bertl::ShutOff()
+{
+    MotorR_FORWARD = MotorL_FORWARD = 0;    // motor OFF
+    MotorR_EN=MotorL_EN=0;                  // motor disable
+}
+
+// LEDs methodes
+
+void ur_Bertl::BlueLedsON()
+{
+      LED_blue=0;
+}
+
+void ur_Bertl::BlueLedsOFF()
+{
+      LED_blue=1;
+}
+
+void ur_Bertl::RGBLed(bool red, bool green, bool blue)
+{
+      RGB_blue=!blue;
+      RGB_red=!red;
+      RGB_green=!green;
+}
+
+void ur_Bertl::TurnLedOn(int16_t led)
+{
+    char cmd[3];
+
+    cmd[0] = 0x02;
+    cmd[1] = ~led;
+    i2c.write(addr, cmd, 2);
+    wait(0.5);
+}
+
+void ur_Bertl::TurnLedOff(int16_t led)
+{
+    char cmd[3];
+
+    cmd[0] = 0x02;
+    cmd[1] = led;
+    i2c.write(addr, cmd, 2);
+    wait(0.5);
+}
+
+void ur_Bertl::NibbleLeds(int value)
+{
+    NibbleLEDs = value%16;
+}
+
+//-----------------INTERNAL USE ONLY ----------------------------
+void ur_Bertl::error()
+{
+    int wait = 500;
+    MotorR_FORWARD = MotorL_FORWARD = 0;    // both motor off
+    MotorR_REVERSE = MotorL_REVERSE = 0;    // both motor off
+    MotorR_EN=MotorL_EN=0;
+    while(1) {
+        TurnLedOff(0xFF);
+        LED_D10 = LED_D11 = LED_D12 = LED_D13 = 0;
+        LED_blue=1;
+        RGB_blue=RGB_green=RGB_red=1;
+        wait_ms(wait);
+        TurnLedOn(0xFF);
+        LED_D10 = LED_D11 = LED_D12 = LED_D13 = 1;
+        LED_blue=0;
+        RGB_blue=RGB_green=1;RGB_red=0;
+        wait_ms(wait);
+    }
+}
+
+bool ur_Bertl::frontButtonPressed()
+{
+    char cmd[3];            // array for I2C
+    int16_t btns;
+    bool wert;
+
+    cmd[0] = 0x06;
+    cmd[1] = 0x00;
+    i2c.write(addr, cmd, 2); 
+
+    cmd[0]=0x01;
+    i2c.write(addr, cmd, 1);
+    i2c.read(addr|1, cmd, 1);
+    btns = cmd[0];
+    if( btns & (BTN_FL|BTN_FM|BTN_FR|BTN_FRR|BTN_FLL))
+        wert = true;
+    else
+        wert = false;
+    DEBUG_PRINT("WERT: %d", wert);
+    return wert;
+}
+
+// ISR
+
+void ur_Bertl::increment()
+{
+    _count++;
+}
+
+int ur_Bertl::Read()
+{
+    return _count;
+}
+
+//----------------------------------------------------------------------
+/*
+bool ur_Bertl::FrontIsClear()
+{
+    int dist = 0;
+    usensor.start();
+    wait_ms(10);
+    dist=usensor.get_dist_cm();
+    if(dist < 5)
+        return false;
+    else
+        return true;
+    DEBUG_PRINT("Distance: %d", dist);
+
+// if there is no ultra sonic sensor use this - with front buttons
+    char cmd[3];            // array for I2C
+    int16_t btns;
+    bool wert;
+
+    cmd[0] = 0x06;
+    cmd[1] = 0x00;
+    i2c.write(addr, cmd, 2); 
+
+    cmd[0]=0x01;
+    i2c.write(addr, cmd, 1);
+    i2c.read(addr|1, cmd, 1);
+    btns = cmd[0];
+    if( btns & (BTN_FL|BTN_FM|BTN_FR))
+        wert = false;
+    else
+        wert = true;
+    DEBUG_PRINT("WERT: %d", wert);
+    return wert;
+}
+
+
+bool ur_Bertl::NextToABeeper()
+{
+    if (BottomIsBlack())
+        return true;
+    else 
+        return false;
+}
+
+int ur_Bertl::AnyBeeperInBag()
+{
+    if(beepersInBag > 0)
+        return beepersInBag;
+    else
+        return 0;
+}
+
+bool ur_Bertl::backIsClear()
+{
+    char cmd[3];            // array for I2C
+    int16_t btns;
+    bool wert;
+
+    cmd[0] = 0x06;
+    cmd[1] = 0x00;
+    i2c.write(addr, cmd, 2); 
+
+    cmd[0]=0x01;
+    i2c.write(addr, cmd, 1);
+    i2c.read(addr|1, cmd, 1);
+    btns = cmd[0];
+    if( btns & (BTN_BL|BTN_BM|BTN_BR))
+        wert = false;
+    else
+        wert = true;
+    DEBUG_PRINT("WERT: %d", wert);
+    return wert;
+}
+
+int ur_Bertl::BottomIsBlack()
+{
+    int detect;
+    
+    detect = linesensor;
+    return detect;
+}
+
+void ur_Bertl::MoveBackwards()
+{
+    int count = _count;
+    //wait_ms(250);                         // waite until Bertl stops
+    MotorR_EN=MotorL_EN=1;                  // both motor ENABLE
+    MotorR_REVERSE = MotorL_REVERSE = 1;    // both motor backwards ON
+    while(_count < count+DISTANCE) {
+        if(!backIsClear())
+            break;
+        DEBUG_PRINT("count: %d _count: %d", count, _count);
+    }
+    MotorR_REVERSE = MotorL_REVERSE = 0;    // both motor off
+    MotorR_EN=MotorL_EN=0;
+    wait_ms(250);
+}
+*/

diff -r 000000000000 -r ae8f51bac163 ur_Bertl.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ur_Bertl.h	Thu Apr 23 12:04:34 2015 +0000
@@ -0,0 +1,129 @@
+/***********************************
+name:   ur_Bertl.h      Version: 1.0
+author: PE HTL BULME
+email:  pe@bulme.at
+description:
+    Definition portion of the class ur_Bertl The Robot
+
+
+***********************************/
+#include "mbed.h"
+
+#ifndef UR_BERTL_H
+#define UR_BERTL_H
+
+#define LEFTSENSOR P1_12
+#define RIGHTSENSOR P1_13
+/********************************************//**
+ name:   ur_Bertl.h 
+ version: 1.0
+ author: PE HTL BULME.
+ email:  pe@bulme.at
+ description:
+    Definition and documentation portion of the class ur_Bertl The Robot.
+   
+***********************************************/
+/** 
+@code
+//
+@endcode
+
+Example motor sensor test:
+@code
+#include "mbed.h"
+#include "ur_Bertl.h"
+#include "const.h"
+ 
+int main()
+{
+    ur_Bertl karel(LEFTSENSOR);  // RIGHTSENSOR
+
+    while(true) {
+        karel.NibbleLeds(karel.Read());
+    }
+}
+@endcode
+
+Example moving the robot around:
+@code
+#include "mbed.h"
+#include "ur_Bertl.h"
+#include "const.h"
+
+int main()
+{
+    ur_Bertl karel;
+    
+    while(karel.WaitUntilButtonPressed()){}
+    //karel.Move();
+    karel.TurnLeft();
+    karel.ShutOff();
+}
+@endcode
+
+Example LEDs:
+@code
+#include "mbed.h"
+#include "ur_Bertl.h"
+#include "const.h"
+
+int main()
+{
+   ur_Bertl karel;
+   
+   while(karel.WaitUntilButtonPressed()){}
+
+   karel.TurnLedOn(LED_FL1 | LED_FR1);  // see const.h
+   wait(1);
+   karel.TurnLedOn(0xFF);               // or use hex
+   wait(1);
+   karel.RGBLed(1,0,0);     // red
+   wait(1);
+   karel.RGBLed(0,1,0);     // green
+   wait(1);
+   karel.RGBLed(0,0,1);     // blue
+   karel.BlueLedsON();
+   karel.NibbleLeds(karel.Read());
+   wait(1);
+   karel.BlueLedsOFF();
+   karel.TurnLedOff(0xFF);
+   karel.ShutOff();
+} 
+@endcode
+ */
+class ur_Bertl
+{
+protected:
+    int beepersInBag;       /**< how many beepers does the robot have in his bag*/
+    char cmd[3];            /**< I2C command */
+    int16_t btns;           /**< which button is pressed */
+    InterruptIn _interrupt; /**< interrupted used*/
+    volatile int _count;    /**< values of motor sensor*/
+
+    /**
+    protected methodes for internal purposes only
+    */
+    void increment();       /**< ISR to increment sensor values of motor */
+    bool backIsClear();     /**< don't now for what */
+    bool frontButtonPressed();/**< TRUE if a a button on the front of Robot is pressed else FALSE */
+    void error();           /**< Error: stops the robot and all LEDs are blinking*/
+
+public:
+    ur_Bertl();                 /**< default constructor; you have to define constants in config.h such as SPEED, DISTANCE or ANGLE*/
+    ur_Bertl(PinName pin);      /**< parameterized constructor; on what pin should the interrupt work; SPEED, DISTANCE or ANGLE have to bee defined in config.h */
+
+    void Move();                /**< Robot moves one turn as much as the constant DISTANCE; if one of the buttons fire --> Error()*/      
+    void TurnLeft();            /**< Robot turns left as much as the constant ANGLE*/      
+    void PutBeeper();           /**< if Robot has any Beepers in his bag he can put one or more Beeper; if not --> Error(()*/  
+    void PickBeeper();          /**< if Robot stands on a black item he can pick one or more Beeper (max. 16 --> Error()); if not --> Error()*/   
+    void NibbleLeds(int value); /**< methode for the 4 (half byte) yellow LEDs at the back left side */
+    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 */
+    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 */
+    bool WaitUntilButtonPressed();  /**< wait until any button is pressed at the robot */
+    void RGBLed(bool red, bool green, bool blue); /**<RGB Led with red, green and blue component of the Color */
+    void BlueLedsOFF();         /**< OFF all blue LEDs which are on the same Port 1_28 */   
+    void BlueLedsON();          /**< ON all blue LEDs which are on the same Port 1_28 */   
+    void ShutOff();             /**<  turnes the robot off */
+    int Read();
+};
+#endif
\ No newline at end of file