buggy_functions.cpp

00001 /*********************************************************
00002 *buggy_functions.cpp                                     *
00003 *Author: Elijah Orr & Dan Argust                         *
00004 *                                                        *
00005 *A library of functions that can be used to control the  *
00006 *RenBuggy.                                               *
00007 *********************************************************/
00008 
00009 #ifndef BUGGY_FUNCTIONS_C
00010 #define BUGGY_FUNCTIONS_C
00011 
00012 /* necessary includes */
00013 #include "mbed.h"
00014 #include "buggy_functions.h"
00015 #include "SevenSegmentDisplay.h"
00016 
00017 // PwmOut is used to control the motors
00018 PwmOut Lmotor(LeftMotorPin);
00019 PwmOut Rmotor(RightMotorPin);
00020 
00021 //Trim is an offset that you can adjust to help the buggy drive straight
00022 //Trim = -0.3 is a left trim
00023 //Trim =  0.3 is a right trim
00024 float trim = 0.0;
00025 
00026 //DigitalIn is used as a button
00027 DigitalIn CurrentButtonState(p7);
00028 //This bool is used to store the buttons state (pressed/not pressed)
00029 bool LastButtonState = 0;
00030 
00031 //This creates an object called "seg" that controls the seven segment display
00032 SevenSegmentDisplay seg(0);
00033 
00034 /* Functions (listed below) contain the code that runs the buggy.
00035 These functions can be used in the main.cpp file */
00036 
00037 
00038 extern void hold(float time) //waits for (time) seconds
00039 {
00040     seg.DisplayDigits(0,0); //Displays the digits 0 and 0
00041     for (float i = time;i>0;i-=0.01){ //For every hundreth of a second, display the time remaining
00042         seg.DisplayDigits((int)i/10,(int)i%10);
00043         wait(0.01);
00044     }
00045 }
00046 
00047 extern void forward(float time) //moves forward for (time) seconds
00048 {
00049     Lmotor = 1.0 + trim;
00050     Rmotor = 1.0 - trim; //set the left and right motor to 1.0 (full speed) - the trim offset
00051     hold(time); //wait for (time) seconds while the motors are on
00052     stop(); //stops the motors
00053 }
00054 
00055 extern void left(float time) //moves left for (time) seconds
00056 {
00057     Rmotor = 1.0 - trim; //set the right motor to full speed
00058     Lmotor = 0.0; //set the left motor to off
00059     hold(time); //waits for (time) seconds
00060     stop(); //stops the motors
00061 }
00062 
00063 extern void right(float time) //moves right for (time) seconds
00064 {
00065     Lmotor = 1.0 + trim; //set the left motor to full speed
00066     Rmotor = 0.0; //set the right motor to off
00067     hold(time); //waits for (time) seconds
00068     stop(); //stops the motors
00069 }
00070 
00071 extern void stop() //stops the motors
00072 {
00073     Lmotor = Rmotor = 0; //set the speed of each motor to 0
00074 }
00075 
00076 extern void readButton(float time) //checks if the button is pressed for (time) seconds
00077 {
00078     seg.DisplayDigits(0,0); //displays 0 0 on the seven segment display
00079     for (float i = time;i>0;i-=0.01) //for each hundreth of a seconds check if the button state goes from low to high (eg. pressed)
00080     {
00081         if (CurrentButtonState == 1 and LastButtonState == 0){
00082             rollDice(); //rolls the dice if the button is pressed
00083         }
00084         LastButtonState = CurrentButtonState;
00085         wait(0.01);
00086     }
00087 }
00088 
00089 extern int rollDice() //a function that randomly generates a number and displays it on the seven segment display
00090 {
00091     int tens; //declare two variables, tens and units to store the number to be displayed
00092     int units;
00093     for (int i = 20;i>0;i--){
00094         tens = rand()%9; //generate a random number from 0-9 and store it in "tens"
00095         units = rand()%9;
00096         seg.DisplayDigits(tens,units); //display the numbers stored in tens and units
00097         wait(0.04);
00098     }
00099     return tens*10+units;
00100 }
00101 #endif // BUGGY_FUNCTIONS_C