Alexander Doppler
Bertl
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
--- /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
--- /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
--- /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
--- /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
--- /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
--- /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();
+
+}
--- /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
--- /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);
+}
+*/
--- /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