Bertl
Fork of Bertl by
ur_Bertl.h
- Committer:
- bulmecisco
- Date:
- 2015-04-26
- Revision:
- 12:cedc088eaf05
- Parent:
- 7:e7f74f072564
- Child:
- 13:3ce84646fd74
File content as of revision 12:cedc088eaf05:
/*********************************** name: ur_Bertl.h Version: 2.2 author: PE HTL BULME email: pe@bulme.at WIKI: https://developer.mbed.org/teams/BERTL_CHEL_18/code/ur_Bertl/ description: Definition portion of the class ur_Bertl The Robot Step wise turns on left and rigth int ReturnButtonPressed() added which returns the int value of button pressed ***********************************/ #include "mbed.h" #include "const.h" #ifndef UR_BERTL_H #define UR_BERTL_H #define LEFTSENSOR P1_12 #define RIGHTSENSOR P1_13 /********************************************//** name: ur_Bertl.h \n version: 2.2 \n author:PE HTL BULME \n email: pe@bulme.at \n WIKI: https://developer.mbed.org/teams/BERTL_CHEL_18/code/ur_Bertl/wiki/Homepage \n 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 Example IF/ELSE Commands (update ur_Bertl 2.0 from https://developer.mbed.org/teams/BERTL_CHEL_18/code/ur_Bertl/ @code /*Sorry, but there are Javascript problems with this code int main() { ur_Bertl karel; while( karel.WaitUntilButtonPressed() ) {} if( karel.NextToABeeper()) { karel.PickBeeper(); karel.NibbleLeds(karel.AnyBeeperInBag()); //show number of beepers in bag on 4 yellow Leds } wait(1); if( karel.AnyBeeperInBag() ) { karel.PutBeeper(); karel.NibbleLeds(karel.AnyBeeperInBag()); } wait(1); if( karel.FrontIsClear() ) karel.Move(); else karel.TurnLeft(); karel.ShutOff(); } @endcode */ class ur_Bertl { protected: int beepersInBag; /**< how many beepers does the robot have in his bag;\n you can show it with: karel.NibbleLeds(karel.AnyBeeperInBag())*/ 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 */ int bottomIsBlack(); /**< check line sensor; returns BCD value */ 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 Move(int move = 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. 15 --> Error()); if not --> Error()*/ void ShutOff(); /**< turnes the robot off */ bool WaitUntilButtonPressed(); /**< wait until any button is pressed at the robot */ bool FrontIsClear(); /**< returns a boolean value true if front is free; if not false */ bool NextToABeeper(); /**< returns a boolean value true if the robot is on a black place or line; if not --> false */ bool IsButtonPressed(const int btn); /**< returns true if Button btn is pressed, else false */ int ReturnButtonPressed(); /**< returns the int value of button pressed */ int AnyBeeperInBag(); /**< returns an int value (if > 0 equal true) how many beepers in bag; if zero --> false */ void NibbleLeds(int value); /**< methode for the 4 (half byte) yellow LEDs at the back left side; ie. you can show how many beeper a robot has in his bag with: karel.NibbleLeds(karel.AnyBeeperInBag())*/ 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 */ 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 */ int Read(); }; /********************************************//** name: Bertl.h \n version: 1.0 \n author:PE HTL BULME \n email: pe@bulme.at \n WIKI: https://developer.mbed.org/teams/BERTL_CHEL_18/code/ur_Bertl/wiki/Homepage \n description: Definition and documentation portion of the class 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 follow a line: @code #include "mbed.h" #include "ur_Bertl.h" #include "const.h" int main() { Bertl karel; while(karel.WaitUntilButtonPressed()) { karel.NibbleLeds(karel.GetLineValues()); switch(karel.GetLineValues()) { case 0x00: karel.TurnLeftStep(50); break; case 0x03: case 0x01: case 0x07: karel.TurnLeftStep(20); break; case 0x0E: case 0x0A: case 0x08: karel.TurnRigthStep(20); break; default: karel.Move(20); break; } if(!karel.FrontIsClear()) karel.TurnLeftStep(1000); } } @endcode */ class Bertl : public ur_Bertl { protected: public: //Bertl(); /**< default constructor; you have to define constants in config.h such as SPEED, DISTANCE or ANGLE*/ void MoveBackwards(int move = MOVE); /**< Robot moves as much back as the constant DISTANCE; if one of the buttons fire --> Error()*/ void TurnRigth(); /**< Robot turns rigth as much as the constant ANGLE*/ void TurnLeftStep(int step=STEPTIME); /**< Robot turns left for a short time defined in STEPTIME */ void TurnRigthStep(int step=STEPTIME); /**< Robot turns rigth for a short time defined in STEPTIME */ uint8_t GetLineValues(); /**< in the lower 4 bit are the values of the line sensor */ }; #endif