Nicolae Marton
/
TDP3_OOP
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LineFollowingRobot/RobotControl.cpp@3:54c41af9e119, 2019-02-03 (annotated)
- Committer:
- Nicolaemf
- Date:
- Sun Feb 03 16:42:44 2019 +0000
- Revision:
- 3:54c41af9e119
- Parent:
- 0:a02a278513d9
- Child:
- 4:645b5d648c64
Wrote PIDweight function, accomodated SetSpeed function, added methods to the header files
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| Nicolaemf | 0:a02a278513d9 | 1 | #include "RobotControl_H.h" |
| Nicolaemf | 0:a02a278513d9 | 2 | #include <mbed.h> |
| Nicolaemf | 0:a02a278513d9 | 3 | |
| Nicolaemf | 0:a02a278513d9 | 4 | |
| Nicolaemf | 0:a02a278513d9 | 5 | RobotControl::RobotControl(PinName pin1, PinName pin2, PinName pin3):m_motorEnable(pin1),m_motorBw(pin2),m_motorFw(pin3){ |
| Nicolaemf | 0:a02a278513d9 | 6 | /*class constructor : initializes the motors with |
| Nicolaemf | 0:a02a278513d9 | 7 | forward enable and speed of 0.3 */ |
| Nicolaemf | 0:a02a278513d9 | 8 | |
| Nicolaemf | 3:54c41af9e119 | 9 | //m_dir = true; |
| Nicolaemf | 3:54c41af9e119 | 10 | //m_speed = 0.2; |
| Nicolaemf | 3:54c41af9e119 | 11 | |
| Nicolaemf | 3:54c41af9e119 | 12 | m_motorBw.period_ms(1); |
| Nicolaemf | 3:54c41af9e119 | 13 | m_motorFw.period_ms(1); |
| Nicolaemf | 3:54c41af9e119 | 14 | |
| Nicolaemf | 3:54c41af9e119 | 15 | SetDirection(1); |
| Nicolaemf | 3:54c41af9e119 | 16 | SetSpeed(0.2); |
| Nicolaemf | 0:a02a278513d9 | 17 | } |
| Nicolaemf | 0:a02a278513d9 | 18 | |
| Nicolaemf | 0:a02a278513d9 | 19 | |
| Nicolaemf | 0:a02a278513d9 | 20 | void RobotControl::SetDirection(bool dir){ |
| Nicolaemf | 0:a02a278513d9 | 21 | /*set direction of one of the sides depending on pwmSelect |
| Nicolaemf | 0:a02a278513d9 | 22 | direction : 1 go forward ,0 go backwards */ |
| Nicolaemf | 0:a02a278513d9 | 23 | |
| Nicolaemf | 0:a02a278513d9 | 24 | m_motorBw.write(0); |
| Nicolaemf | 0:a02a278513d9 | 25 | m_motorFw.write(0); |
| Nicolaemf | 0:a02a278513d9 | 26 | |
| Nicolaemf | 0:a02a278513d9 | 27 | wait(0.1); |
| Nicolaemf | 0:a02a278513d9 | 28 | |
| Nicolaemf | 0:a02a278513d9 | 29 | if(dir){ |
| Nicolaemf | 0:a02a278513d9 | 30 | m_motorEnable = true; |
| Nicolaemf | 0:a02a278513d9 | 31 | m_pwmPtr = &m_motorFw; |
| Nicolaemf | 0:a02a278513d9 | 32 | }else{ |
| Nicolaemf | 0:a02a278513d9 | 33 | m_motorEnable = false; |
| Nicolaemf | 0:a02a278513d9 | 34 | m_pwmPtr = &m_motorBw; |
| Nicolaemf | 0:a02a278513d9 | 35 | } |
| Nicolaemf | 0:a02a278513d9 | 36 | |
| Nicolaemf | 0:a02a278513d9 | 37 | m_prevDir = dir; |
| Nicolaemf | 0:a02a278513d9 | 38 | |
| Nicolaemf | 0:a02a278513d9 | 39 | } |
| Nicolaemf | 0:a02a278513d9 | 40 | |
| Nicolaemf | 0:a02a278513d9 | 41 | |
| Nicolaemf | 0:a02a278513d9 | 42 | void RobotControl::SetSpeed(float speed){ |
| Nicolaemf | 0:a02a278513d9 | 43 | /*set speed on the pwm which is point by m_pwmPtr (set by SetDirection) |
| Nicolaemf | 0:a02a278513d9 | 44 | speed : the speed given to the motor, ranges from 0 to 1*/ |
| Nicolaemf | 0:a02a278513d9 | 45 | |
| Nicolaemf | 3:54c41af9e119 | 46 | if(speed<=0) m_pwmPtr->write(0); |
| Nicolaemf | 3:54c41af9e119 | 47 | else if(speed>=1.0)m_pwmPtr->write(1.0); |
| Nicolaemf | 3:54c41af9e119 | 48 | else m_pwmPtr->write(speed); |
| Nicolaemf | 3:54c41af9e119 | 49 | |
| Nicolaemf | 0:a02a278513d9 | 50 | } |
| Nicolaemf | 0:a02a278513d9 | 51 | |
| Nicolaemf | 0:a02a278513d9 | 52 |