RenBuggyTimed with edited function and access to seven segment display
Dependencies: SevenSegmentDisplay mbed
Fork of 1-RenBuggyTimed by
TimedMovement.cpp@1:91ca3ea0f578, 2016-04-13 (annotated)
- Committer:
- DanArgust
- Date:
- Wed Apr 13 07:04:28 2016 +0000
- Revision:
- 1:91ca3ea0f578
- Parent:
- 0:9870f526ddd1
Release 0.0.1 1-RenBuggyTimed with changes all functions and including access to Seven Segment Display
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
RenBuggy | 0:9870f526ddd1 | 1 | /********************************************************* |
RenBuggy | 0:9870f526ddd1 | 2 | *TimedMovement.cpp * |
DanArgust | 1:91ca3ea0f578 | 3 | *Author: Dan Argust * |
RenBuggy | 0:9870f526ddd1 | 4 | * * |
RenBuggy | 0:9870f526ddd1 | 5 | *A library of functions that can be used to control the * |
RenBuggy | 0:9870f526ddd1 | 6 | *RenBuggy. * |
RenBuggy | 0:9870f526ddd1 | 7 | *********************************************************/ |
RenBuggy | 0:9870f526ddd1 | 8 | |
RenBuggy | 0:9870f526ddd1 | 9 | #ifndef TIMEDMOVEMENT_C |
RenBuggy | 0:9870f526ddd1 | 10 | #define TIMEDMOVEMENT_C |
RenBuggy | 0:9870f526ddd1 | 11 | |
RenBuggy | 0:9870f526ddd1 | 12 | /* necessary includes */ |
RenBuggy | 0:9870f526ddd1 | 13 | #include "mbed.h" |
RenBuggy | 0:9870f526ddd1 | 14 | #include "TimedMovement.h" |
DanArgust | 1:91ca3ea0f578 | 15 | #include "SevenSegmentDisplay.h" |
RenBuggy | 0:9870f526ddd1 | 16 | |
RenBuggy | 0:9870f526ddd1 | 17 | /* PwmOut is a class included in the mbed.h library that allows |
RenBuggy | 0:9870f526ddd1 | 18 | a pin to be configured as a PWM output. This is used to control |
RenBuggy | 0:9870f526ddd1 | 19 | the speed of the motors. Lmotor and Rmotor are chosen names for |
RenBuggy | 0:9870f526ddd1 | 20 | the pins, LeftMotorPin and RightMotorPin (see TimedMovement.h) |
RenBuggy | 0:9870f526ddd1 | 21 | specify the physical pins to be used. */ |
RenBuggy | 0:9870f526ddd1 | 22 | PwmOut Lmotor(LeftMotorPin); |
RenBuggy | 0:9870f526ddd1 | 23 | PwmOut Rmotor(RightMotorPin); |
RenBuggy | 0:9870f526ddd1 | 24 | |
DanArgust | 1:91ca3ea0f578 | 25 | DigitalIn CurrentButtonState(p7); |
DanArgust | 1:91ca3ea0f578 | 26 | bool LastButtonState = 0; |
DanArgust | 1:91ca3ea0f578 | 27 | |
DanArgust | 1:91ca3ea0f578 | 28 | SevenSegmentDisplay seg(0); |
DanArgust | 1:91ca3ea0f578 | 29 | |
RenBuggy | 0:9870f526ddd1 | 30 | /* Function definitions contain the code that will execute when |
RenBuggy | 0:9870f526ddd1 | 31 | the function is called. These must have the same return type |
RenBuggy | 0:9870f526ddd1 | 32 | and parameters as the function declarations. */ |
RenBuggy | 0:9870f526ddd1 | 33 | |
RenBuggy | 0:9870f526ddd1 | 34 | /**************************************************************** |
RenBuggy | 0:9870f526ddd1 | 35 | * Function: forward() * |
RenBuggy | 0:9870f526ddd1 | 36 | * * |
RenBuggy | 0:9870f526ddd1 | 37 | * Moves the RenBuggy directly forwards * |
RenBuggy | 0:9870f526ddd1 | 38 | * * |
RenBuggy | 0:9870f526ddd1 | 39 | * Inputs: A floating point value representing the length of * |
RenBuggy | 0:9870f526ddd1 | 40 | * time the buggy will move for * |
RenBuggy | 0:9870f526ddd1 | 41 | * * |
RenBuggy | 0:9870f526ddd1 | 42 | * Returns: none * |
RenBuggy | 0:9870f526ddd1 | 43 | ****************************************************************/ |
DanArgust | 1:91ca3ea0f578 | 44 | extern void hold(float time) |
DanArgust | 1:91ca3ea0f578 | 45 | { |
DanArgust | 1:91ca3ea0f578 | 46 | seg.DisplayDigits(0,0); |
DanArgust | 1:91ca3ea0f578 | 47 | for (float i = time;i>0;i-=0.01){ |
DanArgust | 1:91ca3ea0f578 | 48 | seg.DisplayDigits((int)i/10,(int)i%10); |
DanArgust | 1:91ca3ea0f578 | 49 | //if (CurrentButtonState == 1 and LastButtonState == 0){ |
DanArgust | 1:91ca3ea0f578 | 50 | // rollDice(); |
DanArgust | 1:91ca3ea0f578 | 51 | //} |
DanArgust | 1:91ca3ea0f578 | 52 | //LastButtonState = CurrentButtonState; |
DanArgust | 1:91ca3ea0f578 | 53 | wait(0.01); |
DanArgust | 1:91ca3ea0f578 | 54 | } |
DanArgust | 1:91ca3ea0f578 | 55 | } |
DanArgust | 1:91ca3ea0f578 | 56 | |
RenBuggy | 0:9870f526ddd1 | 57 | extern void forward(float time) |
RenBuggy | 0:9870f526ddd1 | 58 | { |
RenBuggy | 0:9870f526ddd1 | 59 | /* Lmotor and Rmotor are set to 1.0 (i.e. the motors will |
RenBuggy | 0:9870f526ddd1 | 60 | operate at full speed). As both motors will move at the |
RenBuggy | 0:9870f526ddd1 | 61 | same speed, the RenBuggy will go directly forward. */ |
DanArgust | 1:91ca3ea0f578 | 62 | //Lmotor = Rmotor = 1.0; |
RenBuggy | 0:9870f526ddd1 | 63 | Lmotor = Rmotor = 1.0; |
RenBuggy | 0:9870f526ddd1 | 64 | /* the program will wait here for the length of time passed |
DanArgust | 1:91ca3ea0f578 | 65 | to the function before continuing. hold() is used to wait a |
DanArgust | 1:91ca3ea0f578 | 66 | number of seconds and display them on the seven seg display */ |
DanArgust | 1:91ca3ea0f578 | 67 | hold(time); |
DanArgust | 1:91ca3ea0f578 | 68 | stop(); |
RenBuggy | 0:9870f526ddd1 | 69 | } |
RenBuggy | 0:9870f526ddd1 | 70 | |
RenBuggy | 0:9870f526ddd1 | 71 | /**************************************************************** |
RenBuggy | 0:9870f526ddd1 | 72 | * Function: left() * |
RenBuggy | 0:9870f526ddd1 | 73 | * * |
RenBuggy | 0:9870f526ddd1 | 74 | * Turns the RenBuggy to the left * |
RenBuggy | 0:9870f526ddd1 | 75 | * * |
RenBuggy | 0:9870f526ddd1 | 76 | * Inputs: A floating point value representing the length of * |
RenBuggy | 0:9870f526ddd1 | 77 | * time the buggy will turn for * |
RenBuggy | 0:9870f526ddd1 | 78 | * * |
RenBuggy | 0:9870f526ddd1 | 79 | * Returns: none * |
RenBuggy | 0:9870f526ddd1 | 80 | ****************************************************************/ |
RenBuggy | 0:9870f526ddd1 | 81 | extern void left(float time) |
RenBuggy | 0:9870f526ddd1 | 82 | { |
RenBuggy | 0:9870f526ddd1 | 83 | Rmotor = 1.0; |
DanArgust | 1:91ca3ea0f578 | 84 | Lmotor = 0.0; |
DanArgust | 1:91ca3ea0f578 | 85 | hold(time); |
DanArgust | 1:91ca3ea0f578 | 86 | //readButton(time); |
DanArgust | 1:91ca3ea0f578 | 87 | stop(); |
RenBuggy | 0:9870f526ddd1 | 88 | } |
RenBuggy | 0:9870f526ddd1 | 89 | |
RenBuggy | 0:9870f526ddd1 | 90 | /**************************************************************** |
RenBuggy | 0:9870f526ddd1 | 91 | * Function: right() * |
RenBuggy | 0:9870f526ddd1 | 92 | * * |
RenBuggy | 0:9870f526ddd1 | 93 | * Turns the RenBuggy to the right * |
RenBuggy | 0:9870f526ddd1 | 94 | * * |
RenBuggy | 0:9870f526ddd1 | 95 | * Inputs: A floating point value representing the length of * |
RenBuggy | 0:9870f526ddd1 | 96 | * time the buggy will turn for * |
RenBuggy | 0:9870f526ddd1 | 97 | * * |
RenBuggy | 0:9870f526ddd1 | 98 | * Returns: none * |
RenBuggy | 0:9870f526ddd1 | 99 | ****************************************************************/ |
RenBuggy | 0:9870f526ddd1 | 100 | extern void right(float time) |
RenBuggy | 0:9870f526ddd1 | 101 | { |
RenBuggy | 0:9870f526ddd1 | 102 | Lmotor = 1.0; |
DanArgust | 1:91ca3ea0f578 | 103 | Rmotor = 0.0; |
DanArgust | 1:91ca3ea0f578 | 104 | hold(time); |
DanArgust | 1:91ca3ea0f578 | 105 | stop(); |
RenBuggy | 0:9870f526ddd1 | 106 | } |
RenBuggy | 0:9870f526ddd1 | 107 | |
RenBuggy | 0:9870f526ddd1 | 108 | /**************************************************************** |
RenBuggy | 0:9870f526ddd1 | 109 | * Function: stop() * |
RenBuggy | 0:9870f526ddd1 | 110 | * * |
RenBuggy | 0:9870f526ddd1 | 111 | * Brings the RenBuggy to a complete stop * |
RenBuggy | 0:9870f526ddd1 | 112 | * * |
RenBuggy | 0:9870f526ddd1 | 113 | * Inputs: none * |
RenBuggy | 0:9870f526ddd1 | 114 | * * |
RenBuggy | 0:9870f526ddd1 | 115 | * Returns: none * |
RenBuggy | 0:9870f526ddd1 | 116 | ****************************************************************/ |
RenBuggy | 0:9870f526ddd1 | 117 | extern void stop() |
RenBuggy | 0:9870f526ddd1 | 118 | { |
RenBuggy | 0:9870f526ddd1 | 119 | Lmotor = Rmotor = 0; |
RenBuggy | 0:9870f526ddd1 | 120 | } |
RenBuggy | 0:9870f526ddd1 | 121 | |
DanArgust | 1:91ca3ea0f578 | 122 | extern void readButton(float time) |
DanArgust | 1:91ca3ea0f578 | 123 | { |
DanArgust | 1:91ca3ea0f578 | 124 | seg.DisplayDigits(0,0); |
DanArgust | 1:91ca3ea0f578 | 125 | for (float i = time;i>0;i-=0.01) |
DanArgust | 1:91ca3ea0f578 | 126 | { |
DanArgust | 1:91ca3ea0f578 | 127 | if (CurrentButtonState == 1 and LastButtonState == 0){ |
DanArgust | 1:91ca3ea0f578 | 128 | rollDice(); |
DanArgust | 1:91ca3ea0f578 | 129 | //stop(); |
DanArgust | 1:91ca3ea0f578 | 130 | //right(2.0); |
DanArgust | 1:91ca3ea0f578 | 131 | } |
DanArgust | 1:91ca3ea0f578 | 132 | LastButtonState = CurrentButtonState; |
DanArgust | 1:91ca3ea0f578 | 133 | wait(0.01); |
DanArgust | 1:91ca3ea0f578 | 134 | } |
DanArgust | 1:91ca3ea0f578 | 135 | } |
DanArgust | 1:91ca3ea0f578 | 136 | |
DanArgust | 1:91ca3ea0f578 | 137 | extern int rollDice() |
DanArgust | 1:91ca3ea0f578 | 138 | { |
DanArgust | 1:91ca3ea0f578 | 139 | int tens; |
DanArgust | 1:91ca3ea0f578 | 140 | int units; |
DanArgust | 1:91ca3ea0f578 | 141 | for (int i = 20;i>0;i--){ |
DanArgust | 1:91ca3ea0f578 | 142 | tens = rand()%9; |
DanArgust | 1:91ca3ea0f578 | 143 | units = rand()%9; |
DanArgust | 1:91ca3ea0f578 | 144 | seg.DisplayDigits(tens,units); |
DanArgust | 1:91ca3ea0f578 | 145 | wait(0.04); |
DanArgust | 1:91ca3ea0f578 | 146 | } |
DanArgust | 1:91ca3ea0f578 | 147 | return tens*10+units; |
DanArgust | 1:91ca3ea0f578 | 148 | } |
RenBuggy | 0:9870f526ddd1 | 149 | #endif // TIMEDMOVEMENT_C |