Revision 1:97a7e9e9a229, committed 2016-04-24

Comitter:

Drohne

Date:

Sun Apr 24 08:29:05 2016 +0000

Parent:

0:d7de08989175

Commit message:

Bulme bertl 14 lib

Changed in this revision

diff -r d7de08989175 -r 97a7e9e9a229 Bertl14.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Bertl14.h	Sun Apr 24 08:29:05 2016 +0000
@@ -0,0 +1,4 @@
+#include "mbed.h"
+#include "I2C.h"
+#include "Enginee-PWM.h"
+#include "Lightsensor.h"
\ No newline at end of file

diff -r d7de08989175 -r 97a7e9e9a229 Enginee-PWM.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Enginee-PWM.cpp	Sun Apr 24 08:29:05 2016 +0000
@@ -0,0 +1,123 @@
+#include "mbed.h"
+#include "Enginee-PWM.h"
+
+// decleration for left engine
+PwmOut MotorL_EN(P1_15);    
+DigitalOut MotorL_FORWARD(P1_1);   
+DigitalOut MotorL_REVERSE(P1_0); 
+  
+// decleration for right engine
+PwmOut MotorR_EN(P0_21);     
+DigitalOut MotorR_FORWARD(P1_3); 
+DigitalOut MotorR_REVERSE(P1_4);
+
+void period_us(int periode)     // underprogramm fot the periode
+{
+    MotorL_EN.period_us(periode);        // declaration for the Periode of the left egngine
+    MotorR_EN.period_us(periode);        // declaration for the Periode of the right egngine
+}
+
+void bertl_engine(int left, int right)
+{             
+   int index_Engine = 0;    // agrument for the Switch
+                
+    // decleration for left and right engine
+         if (left > 0 && right > 0)             // all arguments are positive
+            index_Engine = 1;
+        
+        else if (left < 0 && right > 0)         // left argument is negative and right is positive
+            index_Engine = 2;
+    
+        else if (left > 0 && right < 0)         // left argument is positive and right is negative
+            index_Engine = 3;
+            
+        else if (left < 0 && right < 0)         // left argument is negative and right is negative
+            index_Engine = 4;
+    
+        else if (left == 0 && right < 0)        // left argument is zero and right is negative
+            index_Engine = 5;
+     
+        else if (left == 0 && right > 0)        // left argument is zero and right is positive
+             index_Engine = 6;    
+        
+        else if (left < 0 && right == 0)        // left argument is negative and right is is zero
+             index_Engine = 7;
+    
+        else if (left > 0 && right == 0)        // left argument is positive and right is is zero
+             index_Engine = 8;
+        else                                    // all egines are zero
+            index_Engine = 9;    
+             
+switch (index_Engine)  //begin Switch
+   { 
+        case 1:
+            MotorR_EN.pulsewidth_us(right);         // to declratate the speed of the right engine (-us - +us)
+            MotorL_EN.pulsewidth_us(left);          // to declratate the speed of the left engine (-us - +us)
+            MotorL_REVERSE = 0;
+            MotorR_REVERSE = 0;
+            MotorL_FORWARD = 1;
+            MotorR_FORWARD = 1;    
+       
+        break;
+            
+        case 2:
+            MotorR_EN.pulsewidth_us(right); 
+            MotorL_EN.pulsewidth_us(-left);
+            MotorL_FORWARD = 0;
+            MotorR_REVERSE = 0;
+            MotorL_REVERSE = 1;
+            MotorR_FORWARD = 1;           
+        break;
+
+        case 3:
+            MotorR_EN.pulsewidth_us(-right); 
+            MotorL_EN.pulsewidth_us(left);
+            MotorL_REVERSE = 0;
+            MotorR_FORWARD = 0;
+            MotorL_FORWARD = 1;
+            MotorR_REVERSE = 1;            
+        break;
+            
+        case 4:
+            MotorR_EN.pulsewidth_us(-right); 
+            MotorL_EN.pulsewidth_us(-left);
+            MotorL_FORWARD = 0;
+            MotorR_FORWARD = 0;
+            MotorL_REVERSE = 1;
+            MotorR_REVERSE = 1;       
+        break;  
+            
+        case 5:
+            MotorL_EN = 0;
+            MotorR_EN.pulsewidth_us(-right); 
+            MotorR_FORWARD = 0;
+            MotorR_REVERSE = 1;
+        break;  
+        
+        case 6:
+            MotorL_EN = 0;
+            MotorR_EN.pulsewidth_us(right); 
+            MotorR_REVERSE = 0;
+            MotorR_FORWARD = 1;
+        break; 
+    
+         case 7:
+            MotorR_EN = 0; 
+            MotorL_EN.pulsewidth_us(-left);
+            MotorL_FORWARD = 0;
+            MotorL_REVERSE = 1;          
+        break;    
+ 
+         case 8:
+            MotorR_EN = 0;
+            MotorL_EN.pulsewidth_us(left);
+            MotorL_REVERSE = 0;
+            MotorL_FORWARD = 1;                    
+         break;    
+         
+        case 9:
+            MotorR_EN = 0;
+            MotorL_EN = 0;
+         break;
+    }//end Switch 
+}//end bertl_engine 
\ No newline at end of file

diff -r d7de08989175 -r 97a7e9e9a229 Enginee-PWM.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Enginee-PWM.h	Sun Apr 24 08:29:05 2016 +0000
@@ -0,0 +1,3 @@
+
+void bertl_engine (int left, int right); // underprogramm for the engines
+void period_us(int periode);    // underprogramm for the periode
\ No newline at end of file

diff -r d7de08989175 -r 97a7e9e9a229 I2C.cpp
--- a/I2C.cpp	Mon Feb 29 12:06:30 2016 +0000
+++ b/I2C.cpp	Sun Apr 24 08:29:05 2016 +0000
@@ -1,54 +1,51 @@
+#include "I2C.h"
 #include "mbed.h"
-#include "I2C.h"
 
-I2C pc9555 (p28, p27);    //SDA,SCL
+I2C i2c(p28, p27);   // (SDA, SCL)
 
-void bertl_PC9555_init()
-{
-    char data[2];
-    
-    // I2C Initialisierung
-    pc9555.frequency(PC9555_FREQUENCY);
-    
-    // Port 0 = LEDs
-    
-    // Adresse, RW# = 0, Config Port 0 (6) = 0x00 (=OutPut), Stop
-    data[0] = PC9555_Port0_DIR_IN;
-    data[1] = 0x00;     // Output    
-    pc9555.write(PC9555_ADDR, data, 2);  
-    
-    // Adresse, RW# = 0, Config Port 1 (7) = 0x00 (=InPut), Stop
-    data[0] = PC9555_Port1_DIR_IN;
-    data[1] = 0xFF;     // Input
-    pc9555.write(PC9555_ADDR, data, 2);  
+void init(){
+        char data[2];
+        
+        i2c.frequency(FREQUENCY);
+        
+        // port 0 = LEDs
+        
+        // declaration of polarity inversion port 0
+        data[0] = Invers0;
+        data[1] = 0xFF;     // Input
+        i2c.write(Addrs, data, 2);
+        
+        // declaration of polarity inversion port 1
+        data[0] = Invers1;
+        data[1] = 0x00;     // Output
+        i2c.write(Addrs, data, 2);
+        
+        // declaration of the Configuration port 0
+        data[0] = Config0;
+        data[1] = 0x00;     // Input
+        i2c.write(Addrs, data, 2);
+        
+        // declaration of the Configuration port 1
+        data[0] = Config1;
+        data[1] = 0xFF;     // Output
+        i2c.write(Addrs, data, 2);
+    }
     
-    // Adresse, RW# = 0, Polarity Inversion Port 0 (4) = 0xFF (= inverted) , Stop  
-    data[0] = PC9555_Port0_INV;
-    data[1] = 0xFF;
-    pc9555.write(PC9555_ADDR, data, 2); 
-    
-     // Adresse, RW# = 0, Polarity Inversion Port 1 (5) = 0x00 (=NonInverted) , Stop
-    data[0] = PC9555_Port1_INV;
-    data[1] = 0x00;
-    pc9555.write(PC9555_ADDR, data, 2);      
-}
-
-void bertl_PC9555_leds(unsigned char leds)
-{
-    char data[2];   // Two Bytes for Transmitt via I2C
+void leds(unsigned char leds){
+        char data[2];
+        
+        data[0] = Output0;
+        data[1] = ~leds;        // look PCA9555 datasheet
+        i2c.write(Addrs, data, 2);
+    }
     
-    // Send leds to Port0 of PC9555 tp I2C: 
-    // Start, Adress, RW# = 0, CMD I2C_Port0_OUT , leds, Stop
-    data[0] = PC9555_Port0_OUT;
-    data[1] = ~leds;        //bitwise inversion since HW is switched on with 0 (invers logic)
-    pc9555.write(PC9555_ADDR, data, 2);
-}
-
-unsigned char bertl_PC9555_switches()
-{
-    char data[1];
-    data[0] = PC9555_Port1_IN;
-    pc9555.write(PC9555_ADDR, data, 1, true); // tell him, we want to read Port1, no STOP
-    pc9555.read(PC9555_ADDR, data, 1, false); // read 1 byte, then send STOP
-    return((unsigned char) data[0]);
-}
\ No newline at end of file
+unsigned char buttons(){
+        char data[1];
+        
+        data[0] = Input1;
+        i2c.write(Addrs, data, 1, false);       // don't stop, becouse we want to read from Input1 the buttons
+        i2c.read(Addrs, data, 1, true);
+        
+        return ((unsigned char) data[0]);
+        
+    }
\ No newline at end of file

diff -r d7de08989175 -r 97a7e9e9a229 I2C.h
--- a/I2C.h	Mon Feb 29 12:06:30 2016 +0000
+++ b/I2C.h	Sun Apr 24 08:29:05 2016 +0000
@@ -1,39 +1,48 @@
-#include "mbed.h"
+/*
+*       Lib for the Bertl 2014 Bulme
+*       Creator: Matthias Hemmer
+*
+*/  
+#define Addrs   0x40    // A2 = A1 = A0 = 0
+#define FREQUENCY   100000  // f in Hz
 
-// LED-Defines
-#define LED_FL_WHITE    0x01 // 0b0000 0001
-#define LED_FR_WHITE    0x04 // 0b0000 0100
-#define LED_FL_ORANGE   0x02 // 0b0000 0010
-#define LED_FR_ORANGE   0x08 // 0b0000 1000
-#define LED_BL_ORANGE   0x20 // 0b0010 0000
-#define LED_BR_ORANGE   0x80 // 0b1000 0000
-#define LED_BL_RED      0x10 // 0b0001 0000
-#define LED_BR_RED      0x40 // 0b0100 0000
-
-#define LED_L_ORANGE (LED_FL_ORANGE | LED_BL_ORANGE) // 0b0000 0010 | 0b0010 0000 = 0b0010 0010
-#define LED_R_ORANGE (LED_FR_ORANGE | LED_BR_ORANGE) // right blinkers    
-#define LED_WHITE    (LED_FL_WHITE  | LED_FR_WHITE)  // front light
-#define LED_RED      (LED_BL_RED    | LED_BR_RED)    //back light
+// Configurate Ports at the PCA9555
+#define Input0  (0)
+#define Input1  (1)
+#define Output0 (2)
+#define Output1 (3)
+#define Invers0 (4) // must be configurated
+#define Invers1 (5) // must be configurated 
+#define Config0 (6) // must be configurated
+#define Config1 (7) // must be configurated
 
-#define SW_FM 0x04
-#define SW_FL
-#define SW_FR
-#define SW_F (SW_FM|SW_FL|SW_FR)
+// Confiurate LEDs
+#define d1 0x01
+#define d2 0x02
+#define d4 0x04
+#define d5 0x08
+#define d6 0x10
+#define d7 0x20
+#define d8 0x40     // not working
+#define d9 0x80
 
-// PC9555-defines
-#define PC9555_ADDR 0x40 // A2 = A1 = A0 = 0
-#define PC9555_FREQUENCY 100000 // f in Hz
+#define WHITE (d1|d4)
+#define ORANGE (d2|d5|d7|d9)
+#define RED (d6|d8)
 
-//PC9555 Commands
-#define PC9555_Port0_IN (0)
-#define PC9555_Port1_IN (1)
-#define PC9555_Port0_OUT (2)
-#define PC9555_Port1_OUT (3)
-#define PC9555_Port0_INV (4)
-#define PC9555_Port1_INV (5)
-#define PC9555_Port0_DIR_IN (6)
-#define PC9555_Port1_DIR_IN (7)
+// Configurate buttons
+#define TA1 1
+#define TA2 2
+#define TA3 4
+#define TA4 8
+#define TA5 16
+#define TA6 32
+#define TA7 64
+#define TA8 128
 
-void bertl_PC9555_init();
-void bertl_PC9555_leds(unsigned char leds);
-unsigned char bertl_PC9555_switches();
\ No newline at end of file
+#define front (TA3|TA1|TA4|TA7|TA8)
+#define back (TA5|TA2|TA6)
+
+void init();
+void leds(unsigned char leds);
+unsigned char buttons();
\ No newline at end of file

diff -r d7de08989175 -r 97a7e9e9a229 Lightsensor.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Lightsensor.cpp	Sun Apr 24 08:29:05 2016 +0000
@@ -0,0 +1,31 @@
+#include "Lightsensor.h"
+
+// Define the lightsensors
+AnalogIn linesensor1(P0_14);   
+AnalogIn linesensor2(P0_12);   
+AnalogIn linesensor3(P0_16);   
+AnalogIn linesensor4(P0_13);
+
+double line1(){
+    double line1 = 0;
+       line1 = linesensor1;
+    return line1;
+    }
+
+double line2(){
+    double line2 = 0;
+        line2 = linesensor1;
+    return line2;
+    }
+
+double line3(){
+    double line3 = 0;
+       line3 = linesensor1;
+    return line3;
+    } 
+
+double line4(){
+    double line4 = 0;
+       line4 = linesensor1;
+    return line4;
+    }
\ No newline at end of file

diff -r d7de08989175 -r 97a7e9e9a229 Lightsensor.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Lightsensor.h	Sun Apr 24 08:29:05 2016 +0000
@@ -0,0 +1,6 @@
+#include "mbed.h"
+
+double line1();
+double line2();
+double line3();
+double line4();
\ No newline at end of file