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ur_Bertl.cpp@17:308802267a62, 2015-11-12 (annotated)
- Committer:
- fpucher
- Date:
- Thu Nov 12 19:05:56 2015 +0000
- Revision:
- 17:308802267a62
- Parent:
- 15:43d6a7e6e64a
Leds work now
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
bulmecisco | 0:66e9a0afcbd6 | 1 | /*********************************** |
bulmecisco | 13:3ce84646fd74 | 2 | name: ur_Bertl.cpp Version: 3.0 |
bulmecisco | 13:3ce84646fd74 | 3 | class Bertl included |
bulmecisco | 0:66e9a0afcbd6 | 4 | author: PE HTL BULME |
bulmecisco | 0:66e9a0afcbd6 | 5 | email: pe@bulme.at |
bulmecisco | 4:76acfddc26fb | 6 | WIKI: https://developer.mbed.org/teams/BERTL_CHEL_18/code/ur_Bertl/ |
bulmecisco | 0:66e9a0afcbd6 | 7 | description: |
bulmecisco | 4:76acfddc26fb | 8 | Implementation portion of class ur_Bertl The Robot |
bulmecisco | 7:e7f74f072564 | 9 | boolean commands added for if/else, while, ... |
bulmecisco | 7:e7f74f072564 | 10 | int ReturnButtonPressed() added which returns the int value of button pressed |
bulmecisco | 0:66e9a0afcbd6 | 11 | ***********************************/ |
bulmecisco | 0:66e9a0afcbd6 | 12 | #include "mbed.h" |
bulmecisco | 0:66e9a0afcbd6 | 13 | #include "config.h" |
bulmecisco | 0:66e9a0afcbd6 | 14 | #include "ur_Bertl.h" |
bulmecisco | 0:66e9a0afcbd6 | 15 | |
bulmecisco | 0:66e9a0afcbd6 | 16 | // Constructor |
bulmecisco | 13:3ce84646fd74 | 17 | ur_Bertl::ur_Bertl() : _interrupt(MOTORENC) |
bulmecisco | 0:66e9a0afcbd6 | 18 | { |
bulmecisco | 15:43d6a7e6e64a | 19 | MotorSpg = 1; |
bulmecisco | 15:43d6a7e6e64a | 20 | IncrementalgeberSpg = 1; |
bulmecisco | 15:43d6a7e6e64a | 21 | LinienSensorSpg = 1; |
bulmecisco | 15:43d6a7e6e64a | 22 | |
bulmecisco | 4:76acfddc26fb | 23 | i2c.frequency(40000); // I2C init |
bulmecisco | 3:01b183fe8b41 | 24 | char init1[2] = {0x6, 0x00}; |
bulmecisco | 3:01b183fe8b41 | 25 | char init2[2] = {0x7, 0xff}; |
bulmecisco | 3:01b183fe8b41 | 26 | i2c.write(0x40, init1, 2); |
bulmecisco | 3:01b183fe8b41 | 27 | i2c.write(0x40, init2, 2); |
bulmecisco | 0:66e9a0afcbd6 | 28 | mg1 = mg2 = SPEED; |
bulmecisco | 0:66e9a0afcbd6 | 29 | _interrupt.rise(this, &ur_Bertl::increment); // attach increment function of this counter instance ie. motor sensor |
bulmecisco | 0:66e9a0afcbd6 | 30 | _count = 0; |
bulmecisco | 0:66e9a0afcbd6 | 31 | beepersInBag = 0; |
fpucher | 17:308802267a62 | 32 | TurnLedOff(0xFF); |
bulmecisco | 0:66e9a0afcbd6 | 33 | } |
bulmecisco | 0:66e9a0afcbd6 | 34 | |
bulmecisco | 0:66e9a0afcbd6 | 35 | ur_Bertl::ur_Bertl(PinName pin) : _interrupt(pin) // create the InterruptIn on the pin specified to Counter |
bulmecisco | 0:66e9a0afcbd6 | 36 | { |
bulmecisco | 4:76acfddc26fb | 37 | i2c.frequency(40000); // I2C init |
bulmecisco | 3:01b183fe8b41 | 38 | char init1[2] = {0x6, 0x00}; |
bulmecisco | 3:01b183fe8b41 | 39 | char init2[2] = {0x7, 0xff}; |
bulmecisco | 3:01b183fe8b41 | 40 | i2c.write(0x40, init1, 2); |
bulmecisco | 3:01b183fe8b41 | 41 | i2c.write(0x40, init2, 2); |
bulmecisco | 0:66e9a0afcbd6 | 42 | mg1 = mg2 = SPEED; |
bulmecisco | 0:66e9a0afcbd6 | 43 | _interrupt.rise(this, &ur_Bertl::increment); // attach increment function of this counter instance ie. motor sensor |
bulmecisco | 0:66e9a0afcbd6 | 44 | _count = 0; |
bulmecisco | 0:66e9a0afcbd6 | 45 | beepersInBag = 0; |
fpucher | 17:308802267a62 | 46 | TurnLedOff(0xFF); |
bulmecisco | 0:66e9a0afcbd6 | 47 | } |
bulmecisco | 0:66e9a0afcbd6 | 48 | |
bulmecisco | 0:66e9a0afcbd6 | 49 | // Pulblic methodes |
bulmecisco | 15:43d6a7e6e64a | 50 | void ur_Bertl::Move() |
bulmecisco | 0:66e9a0afcbd6 | 51 | { |
bulmecisco | 0:66e9a0afcbd6 | 52 | int count = _count; |
bulmecisco | 0:66e9a0afcbd6 | 53 | MotorR_EN=MotorL_EN=1; // both motor ENABLE |
bulmecisco | 0:66e9a0afcbd6 | 54 | MotorR_FORWARD = MotorL_FORWARD = 1; // both motor forward ON |
bulmecisco | 2:1cd559ff516b | 55 | #ifdef TIME |
bulmecisco | 15:43d6a7e6e64a | 56 | wait_ms(MOVE); |
bulmecisco | 3:01b183fe8b41 | 57 | #else |
bulmecisco | 0:66e9a0afcbd6 | 58 | |
bulmecisco | 15:43d6a7e6e64a | 59 | while(_count < count+DISTANCE) { // DISTANCE maybe change to move |
bulmecisco | 0:66e9a0afcbd6 | 60 | //if(!FrontIsClear()) // more convenient because there are no accidents :-) |
bulmecisco | 0:66e9a0afcbd6 | 61 | // break; |
bulmecisco | 0:66e9a0afcbd6 | 62 | #ifdef FRONTBUTTON |
bulmecisco | 0:66e9a0afcbd6 | 63 | if(frontButtonPressed()) |
bulmecisco | 0:66e9a0afcbd6 | 64 | error(); |
bulmecisco | 0:66e9a0afcbd6 | 65 | #endif |
bulmecisco | 0:66e9a0afcbd6 | 66 | DEBUG_PRINT("count: %d _count: %d", count, _count); |
bulmecisco | 0:66e9a0afcbd6 | 67 | } |
bulmecisco | 2:1cd559ff516b | 68 | #endif |
bulmecisco | 0:66e9a0afcbd6 | 69 | MotorR_FORWARD = MotorL_FORWARD = 0; // both motor off |
bulmecisco | 0:66e9a0afcbd6 | 70 | MotorR_EN=MotorL_EN=0; |
bulmecisco | 15:43d6a7e6e64a | 71 | //if(move == MOVE) |
bulmecisco | 12:cedc088eaf05 | 72 | wait_ms(250); |
bulmecisco | 0:66e9a0afcbd6 | 73 | } |
bulmecisco | 0:66e9a0afcbd6 | 74 | |
bulmecisco | 0:66e9a0afcbd6 | 75 | void ur_Bertl::PutBeeper() |
bulmecisco | 0:66e9a0afcbd6 | 76 | { |
bulmecisco | 0:66e9a0afcbd6 | 77 | // wait_ms(500); |
bulmecisco | 0:66e9a0afcbd6 | 78 | if(beepersInBag > 0) |
bulmecisco | 0:66e9a0afcbd6 | 79 | beepersInBag--; |
bulmecisco | 0:66e9a0afcbd6 | 80 | else |
bulmecisco | 0:66e9a0afcbd6 | 81 | error(); |
bulmecisco | 0:66e9a0afcbd6 | 82 | } |
bulmecisco | 0:66e9a0afcbd6 | 83 | |
bulmecisco | 0:66e9a0afcbd6 | 84 | void ur_Bertl::PickBeeper() |
bulmecisco | 0:66e9a0afcbd6 | 85 | { |
bulmecisco | 0:66e9a0afcbd6 | 86 | // wait_ms(500); |
bulmecisco | 0:66e9a0afcbd6 | 87 | if (linesensor) |
bulmecisco | 0:66e9a0afcbd6 | 88 | beepersInBag++; |
bulmecisco | 0:66e9a0afcbd6 | 89 | else |
bulmecisco | 0:66e9a0afcbd6 | 90 | error(); |
bulmecisco | 4:76acfddc26fb | 91 | if(beepersInBag > 16) |
bulmecisco | 4:76acfddc26fb | 92 | error(); |
bulmecisco | 0:66e9a0afcbd6 | 93 | } |
bulmecisco | 0:66e9a0afcbd6 | 94 | |
bulmecisco | 0:66e9a0afcbd6 | 95 | void ur_Bertl::TurnLeft() |
bulmecisco | 0:66e9a0afcbd6 | 96 | { |
bulmecisco | 0:66e9a0afcbd6 | 97 | int count = _count; |
bulmecisco | 0:66e9a0afcbd6 | 98 | MotorR_EN=MotorL_EN=1; // motor left and right ENABLE |
bulmecisco | 0:66e9a0afcbd6 | 99 | |
bulmecisco | 0:66e9a0afcbd6 | 100 | MotorR_FORWARD = MotorL_REVERSE = 1; |
bulmecisco | 2:1cd559ff516b | 101 | #ifdef TIME |
bulmecisco | 2:1cd559ff516b | 102 | wait_ms(TURN); |
bulmecisco | 2:1cd559ff516b | 103 | #else |
bulmecisco | 2:1cd559ff516b | 104 | |
bulmecisco | 0:66e9a0afcbd6 | 105 | while(_count < count+ANGLE) { |
bulmecisco | 0:66e9a0afcbd6 | 106 | #ifdef FRONTBUTTON |
bulmecisco | 0:66e9a0afcbd6 | 107 | if(frontButtonPressed()) // get out if to much problems |
bulmecisco | 0:66e9a0afcbd6 | 108 | error(); |
bulmecisco | 0:66e9a0afcbd6 | 109 | #endif |
bulmecisco | 0:66e9a0afcbd6 | 110 | DEBUG_PRINT("count: %d _count: %d", count, _count); |
bulmecisco | 0:66e9a0afcbd6 | 111 | } |
bulmecisco | 2:1cd559ff516b | 112 | #endif |
bulmecisco | 0:66e9a0afcbd6 | 113 | MotorR_FORWARD = MotorL_REVERSE = 0; |
bulmecisco | 0:66e9a0afcbd6 | 114 | MotorR_EN=MotorL_EN=0; |
bulmecisco | 0:66e9a0afcbd6 | 115 | wait_ms(250); // only to step the robot |
bulmecisco | 0:66e9a0afcbd6 | 116 | } |
bulmecisco | 0:66e9a0afcbd6 | 117 | |
bulmecisco | 15:43d6a7e6e64a | 118 | void ur_Bertl::TurnOff() |
bulmecisco | 0:66e9a0afcbd6 | 119 | { |
bulmecisco | 0:66e9a0afcbd6 | 120 | MotorR_FORWARD = MotorL_FORWARD = 0; // motor OFF |
bulmecisco | 0:66e9a0afcbd6 | 121 | MotorR_EN=MotorL_EN=0; // motor disable |
bulmecisco | 15:43d6a7e6e64a | 122 | MotorSpg = 0; |
bulmecisco | 15:43d6a7e6e64a | 123 | IncrementalgeberSpg = 0; |
bulmecisco | 15:43d6a7e6e64a | 124 | LinienSensorSpg = 0; |
bulmecisco | 15:43d6a7e6e64a | 125 | BlueLedsOFF(); |
bulmecisco | 15:43d6a7e6e64a | 126 | TurnLedOff(LED_ALL); |
bulmecisco | 15:43d6a7e6e64a | 127 | NibbleLeds(0x00); |
bulmecisco | 0:66e9a0afcbd6 | 128 | } |
bulmecisco | 0:66e9a0afcbd6 | 129 | |
bulmecisco | 4:76acfddc26fb | 130 | // Public LEDs methodes |
bulmecisco | 0:66e9a0afcbd6 | 131 | |
bulmecisco | 0:66e9a0afcbd6 | 132 | void ur_Bertl::BlueLedsON() |
bulmecisco | 0:66e9a0afcbd6 | 133 | { |
bulmecisco | 0:66e9a0afcbd6 | 134 | LED_blue=0; |
bulmecisco | 0:66e9a0afcbd6 | 135 | } |
bulmecisco | 0:66e9a0afcbd6 | 136 | |
bulmecisco | 0:66e9a0afcbd6 | 137 | void ur_Bertl::BlueLedsOFF() |
bulmecisco | 0:66e9a0afcbd6 | 138 | { |
bulmecisco | 0:66e9a0afcbd6 | 139 | LED_blue=1; |
bulmecisco | 0:66e9a0afcbd6 | 140 | } |
bulmecisco | 0:66e9a0afcbd6 | 141 | |
bulmecisco | 0:66e9a0afcbd6 | 142 | void ur_Bertl::RGBLed(bool red, bool green, bool blue) |
bulmecisco | 0:66e9a0afcbd6 | 143 | { |
bulmecisco | 0:66e9a0afcbd6 | 144 | RGB_blue=!blue; |
bulmecisco | 0:66e9a0afcbd6 | 145 | RGB_red=!red; |
bulmecisco | 0:66e9a0afcbd6 | 146 | RGB_green=!green; |
bulmecisco | 0:66e9a0afcbd6 | 147 | } |
bulmecisco | 0:66e9a0afcbd6 | 148 | |
bulmecisco | 0:66e9a0afcbd6 | 149 | void ur_Bertl::TurnLedOn(int16_t led) |
bulmecisco | 0:66e9a0afcbd6 | 150 | { |
fpucher | 17:308802267a62 | 151 | leds = leds | led; |
bulmecisco | 0:66e9a0afcbd6 | 152 | char cmd[3]; |
bulmecisco | 0:66e9a0afcbd6 | 153 | |
bulmecisco | 1:fafbac0ba96d | 154 | if(led == 0xBB) { |
bulmecisco | 1:fafbac0ba96d | 155 | LED_blue=0; |
bulmecisco | 1:fafbac0ba96d | 156 | return; |
bulmecisco | 1:fafbac0ba96d | 157 | } else if (led == 0xFF) { |
bulmecisco | 1:fafbac0ba96d | 158 | RGBLed(1,1,1); |
bulmecisco | 1:fafbac0ba96d | 159 | LED_blue=0; |
bulmecisco | 1:fafbac0ba96d | 160 | } |
bulmecisco | 0:66e9a0afcbd6 | 161 | cmd[0] = 0x02; |
fpucher | 17:308802267a62 | 162 | cmd[1] = ~leds; |
bulmecisco | 0:66e9a0afcbd6 | 163 | i2c.write(addr, cmd, 2); |
bulmecisco | 0:66e9a0afcbd6 | 164 | wait(0.5); |
bulmecisco | 0:66e9a0afcbd6 | 165 | } |
bulmecisco | 0:66e9a0afcbd6 | 166 | |
bulmecisco | 0:66e9a0afcbd6 | 167 | void ur_Bertl::TurnLedOff(int16_t led) |
bulmecisco | 0:66e9a0afcbd6 | 168 | { |
fpucher | 17:308802267a62 | 169 | leds = leds & ~led; |
bulmecisco | 0:66e9a0afcbd6 | 170 | char cmd[3]; |
bulmecisco | 1:fafbac0ba96d | 171 | if(led == 0xBB) { |
bulmecisco | 1:fafbac0ba96d | 172 | LED_blue=1; |
bulmecisco | 1:fafbac0ba96d | 173 | return; |
bulmecisco | 1:fafbac0ba96d | 174 | } else if (led == 0xFF) { |
bulmecisco | 1:fafbac0ba96d | 175 | RGBLed(0,0,0); //don't work? |
bulmecisco | 1:fafbac0ba96d | 176 | LED_blue=1; |
bulmecisco | 1:fafbac0ba96d | 177 | } |
bulmecisco | 0:66e9a0afcbd6 | 178 | cmd[0] = 0x02; |
fpucher | 17:308802267a62 | 179 | cmd[1] = ~leds; |
bulmecisco | 0:66e9a0afcbd6 | 180 | i2c.write(addr, cmd, 2); |
bulmecisco | 0:66e9a0afcbd6 | 181 | wait(0.5); |
bulmecisco | 0:66e9a0afcbd6 | 182 | } |
bulmecisco | 0:66e9a0afcbd6 | 183 | |
bulmecisco | 0:66e9a0afcbd6 | 184 | void ur_Bertl::NibbleLeds(int value) |
bulmecisco | 0:66e9a0afcbd6 | 185 | { |
bulmecisco | 0:66e9a0afcbd6 | 186 | NibbleLEDs = value%16; |
bulmecisco | 0:66e9a0afcbd6 | 187 | } |
bulmecisco | 0:66e9a0afcbd6 | 188 | |
bulmecisco | 0:66e9a0afcbd6 | 189 | //---------------------------------------------------------------------- |
bulmecisco | 1:fafbac0ba96d | 190 | |
bulmecisco | 0:66e9a0afcbd6 | 191 | bool ur_Bertl::FrontIsClear() |
bulmecisco | 0:66e9a0afcbd6 | 192 | { |
bulmecisco | 1:fafbac0ba96d | 193 | #ifdef HCSR |
bulmecisco | 0:66e9a0afcbd6 | 194 | int dist = 0; |
bulmecisco | 0:66e9a0afcbd6 | 195 | usensor.start(); |
bulmecisco | 0:66e9a0afcbd6 | 196 | wait_ms(10); |
bulmecisco | 0:66e9a0afcbd6 | 197 | dist=usensor.get_dist_cm(); |
bulmecisco | 6:df6830254e8b | 198 | if(dist < ULTRASONIC_DISTANCE) |
bulmecisco | 0:66e9a0afcbd6 | 199 | return false; |
bulmecisco | 0:66e9a0afcbd6 | 200 | else |
bulmecisco | 0:66e9a0afcbd6 | 201 | return true; |
bulmecisco | 1:fafbac0ba96d | 202 | #else |
bulmecisco | 0:66e9a0afcbd6 | 203 | // if there is no ultra sonic sensor use this - with front buttons |
bulmecisco | 0:66e9a0afcbd6 | 204 | char cmd[3]; // array for I2C |
bulmecisco | 0:66e9a0afcbd6 | 205 | int16_t btns; |
bulmecisco | 0:66e9a0afcbd6 | 206 | bool wert; |
bulmecisco | 0:66e9a0afcbd6 | 207 | |
bulmecisco | 0:66e9a0afcbd6 | 208 | cmd[0] = 0x06; |
bulmecisco | 0:66e9a0afcbd6 | 209 | cmd[1] = 0x00; |
bulmecisco | 0:66e9a0afcbd6 | 210 | i2c.write(addr, cmd, 2); |
bulmecisco | 0:66e9a0afcbd6 | 211 | |
bulmecisco | 0:66e9a0afcbd6 | 212 | cmd[0]=0x01; |
bulmecisco | 0:66e9a0afcbd6 | 213 | i2c.write(addr, cmd, 1); |
bulmecisco | 0:66e9a0afcbd6 | 214 | i2c.read(addr|1, cmd, 1); |
bulmecisco | 0:66e9a0afcbd6 | 215 | btns = cmd[0]; |
bulmecisco | 0:66e9a0afcbd6 | 216 | if( btns & (BTN_FL|BTN_FM|BTN_FR)) |
bulmecisco | 0:66e9a0afcbd6 | 217 | wert = false; |
bulmecisco | 0:66e9a0afcbd6 | 218 | else |
bulmecisco | 0:66e9a0afcbd6 | 219 | wert = true; |
bulmecisco | 0:66e9a0afcbd6 | 220 | DEBUG_PRINT("WERT: %d", wert); |
bulmecisco | 0:66e9a0afcbd6 | 221 | return wert; |
bulmecisco | 1:fafbac0ba96d | 222 | #endif |
bulmecisco | 0:66e9a0afcbd6 | 223 | } |
bulmecisco | 0:66e9a0afcbd6 | 224 | |
bulmecisco | 4:76acfddc26fb | 225 | bool ur_Bertl::WaitUntilButtonPressed() |
bulmecisco | 4:76acfddc26fb | 226 | { |
bulmecisco | 4:76acfddc26fb | 227 | char cmd[3]; |
bulmecisco | 4:76acfddc26fb | 228 | int16_t btns; |
bulmecisco | 4:76acfddc26fb | 229 | bool wert; |
bulmecisco | 4:76acfddc26fb | 230 | |
bulmecisco | 4:76acfddc26fb | 231 | RGB_blue=RGB_red=RGB_green=0; |
bulmecisco | 4:76acfddc26fb | 232 | cmd[0] = 0x06; |
bulmecisco | 4:76acfddc26fb | 233 | cmd[1] = 0x00; |
bulmecisco | 4:76acfddc26fb | 234 | i2c.write(addr, cmd, 2); |
bulmecisco | 4:76acfddc26fb | 235 | |
bulmecisco | 4:76acfddc26fb | 236 | cmd[0]=0x01; |
bulmecisco | 4:76acfddc26fb | 237 | i2c.write(addr, cmd, 1); |
bulmecisco | 4:76acfddc26fb | 238 | i2c.read(addr|1, cmd, 1); |
bulmecisco | 4:76acfddc26fb | 239 | btns = cmd[0]; |
bulmecisco | 4:76acfddc26fb | 240 | if( btns & (0xFF)) |
bulmecisco | 4:76acfddc26fb | 241 | wert = false; |
bulmecisco | 4:76acfddc26fb | 242 | else |
bulmecisco | 4:76acfddc26fb | 243 | wert = true; |
bulmecisco | 4:76acfddc26fb | 244 | DEBUG_PRINT("\right\nWERT: %d \right\n", wert); |
bulmecisco | 4:76acfddc26fb | 245 | return wert; |
bulmecisco | 4:76acfddc26fb | 246 | } |
bulmecisco | 4:76acfddc26fb | 247 | |
bulmecisco | 0:66e9a0afcbd6 | 248 | bool ur_Bertl::NextToABeeper() |
bulmecisco | 0:66e9a0afcbd6 | 249 | { |
bulmecisco | 4:76acfddc26fb | 250 | if (bottomIsBlack()) |
bulmecisco | 0:66e9a0afcbd6 | 251 | return true; |
bulmecisco | 0:66e9a0afcbd6 | 252 | else |
bulmecisco | 0:66e9a0afcbd6 | 253 | return false; |
bulmecisco | 0:66e9a0afcbd6 | 254 | } |
bulmecisco | 0:66e9a0afcbd6 | 255 | |
bulmecisco | 0:66e9a0afcbd6 | 256 | int ur_Bertl::AnyBeeperInBag() |
bulmecisco | 0:66e9a0afcbd6 | 257 | { |
bulmecisco | 0:66e9a0afcbd6 | 258 | if(beepersInBag > 0) |
bulmecisco | 0:66e9a0afcbd6 | 259 | return beepersInBag; |
bulmecisco | 0:66e9a0afcbd6 | 260 | else |
bulmecisco | 0:66e9a0afcbd6 | 261 | return 0; |
bulmecisco | 0:66e9a0afcbd6 | 262 | } |
bulmecisco | 0:66e9a0afcbd6 | 263 | |
bulmecisco | 5:6b667e2cb800 | 264 | bool ur_Bertl::IsButtonPressed(const int btn) |
bulmecisco | 5:6b667e2cb800 | 265 | { |
bulmecisco | 5:6b667e2cb800 | 266 | char cmd[3]; // array for I2C |
bulmecisco | 5:6b667e2cb800 | 267 | int16_t btns; |
bulmecisco | 5:6b667e2cb800 | 268 | bool wert; |
bulmecisco | 5:6b667e2cb800 | 269 | |
bulmecisco | 5:6b667e2cb800 | 270 | cmd[0] = 0x06; |
bulmecisco | 5:6b667e2cb800 | 271 | cmd[1] = 0x00; |
bulmecisco | 5:6b667e2cb800 | 272 | i2c.write(addr, cmd, 2); |
bulmecisco | 5:6b667e2cb800 | 273 | |
bulmecisco | 5:6b667e2cb800 | 274 | cmd[0]=0x01; |
bulmecisco | 5:6b667e2cb800 | 275 | i2c.write(addr, cmd, 1); |
bulmecisco | 5:6b667e2cb800 | 276 | i2c.read(addr|1, cmd, 1); |
bulmecisco | 5:6b667e2cb800 | 277 | btns = cmd[0]; |
bulmecisco | 5:6b667e2cb800 | 278 | if( btns & btn) |
bulmecisco | 5:6b667e2cb800 | 279 | wert = true; |
bulmecisco | 5:6b667e2cb800 | 280 | else |
bulmecisco | 5:6b667e2cb800 | 281 | wert = false; |
bulmecisco | 5:6b667e2cb800 | 282 | DEBUG_PRINT("WERT: %d", wert); |
bulmecisco | 5:6b667e2cb800 | 283 | return wert; |
bulmecisco | 5:6b667e2cb800 | 284 | } |
bulmecisco | 5:6b667e2cb800 | 285 | |
bulmecisco | 7:e7f74f072564 | 286 | int ur_Bertl::ReturnButtonPressed() |
bulmecisco | 7:e7f74f072564 | 287 | { |
bulmecisco | 7:e7f74f072564 | 288 | char cmd[3]; // array for I2C |
bulmecisco | 7:e7f74f072564 | 289 | int16_t btns; |
bulmecisco | 7:e7f74f072564 | 290 | |
bulmecisco | 7:e7f74f072564 | 291 | cmd[0] = 0x06; |
bulmecisco | 7:e7f74f072564 | 292 | cmd[1] = 0x00; |
bulmecisco | 7:e7f74f072564 | 293 | i2c.write(addr, cmd, 2); |
bulmecisco | 7:e7f74f072564 | 294 | |
bulmecisco | 7:e7f74f072564 | 295 | cmd[0]=0x01; |
bulmecisco | 7:e7f74f072564 | 296 | i2c.write(addr, cmd, 1); |
bulmecisco | 7:e7f74f072564 | 297 | i2c.read(addr|1, cmd, 1); |
bulmecisco | 7:e7f74f072564 | 298 | btns = cmd[0]; |
bulmecisco | 7:e7f74f072564 | 299 | DEBUG_PRINT("Button: %d", btns); |
bulmecisco | 7:e7f74f072564 | 300 | return btns; |
bulmecisco | 7:e7f74f072564 | 301 | } |
bulmecisco | 4:76acfddc26fb | 302 | // Protected methodes |
bulmecisco | 4:76acfddc26fb | 303 | |
bulmecisco | 4:76acfddc26fb | 304 | int ur_Bertl::bottomIsBlack() |
bulmecisco | 4:76acfddc26fb | 305 | { |
bulmecisco | 4:76acfddc26fb | 306 | int detect; |
bulmecisco | 4:76acfddc26fb | 307 | |
bulmecisco | 4:76acfddc26fb | 308 | detect = linesensor; |
bulmecisco | 4:76acfddc26fb | 309 | return detect; |
bulmecisco | 4:76acfddc26fb | 310 | } |
bulmecisco | 4:76acfddc26fb | 311 | |
bulmecisco | 0:66e9a0afcbd6 | 312 | bool ur_Bertl::backIsClear() |
bulmecisco | 0:66e9a0afcbd6 | 313 | { |
bulmecisco | 0:66e9a0afcbd6 | 314 | char cmd[3]; // array for I2C |
bulmecisco | 0:66e9a0afcbd6 | 315 | int16_t btns; |
bulmecisco | 0:66e9a0afcbd6 | 316 | bool wert; |
bulmecisco | 0:66e9a0afcbd6 | 317 | |
bulmecisco | 0:66e9a0afcbd6 | 318 | cmd[0] = 0x06; |
bulmecisco | 0:66e9a0afcbd6 | 319 | cmd[1] = 0x00; |
bulmecisco | 0:66e9a0afcbd6 | 320 | i2c.write(addr, cmd, 2); |
bulmecisco | 0:66e9a0afcbd6 | 321 | |
bulmecisco | 0:66e9a0afcbd6 | 322 | cmd[0]=0x01; |
bulmecisco | 0:66e9a0afcbd6 | 323 | i2c.write(addr, cmd, 1); |
bulmecisco | 0:66e9a0afcbd6 | 324 | i2c.read(addr|1, cmd, 1); |
bulmecisco | 0:66e9a0afcbd6 | 325 | btns = cmd[0]; |
bulmecisco | 0:66e9a0afcbd6 | 326 | if( btns & (BTN_BL|BTN_BM|BTN_BR)) |
bulmecisco | 0:66e9a0afcbd6 | 327 | wert = false; |
bulmecisco | 0:66e9a0afcbd6 | 328 | else |
bulmecisco | 0:66e9a0afcbd6 | 329 | wert = true; |
bulmecisco | 0:66e9a0afcbd6 | 330 | DEBUG_PRINT("WERT: %d", wert); |
bulmecisco | 0:66e9a0afcbd6 | 331 | return wert; |
bulmecisco | 0:66e9a0afcbd6 | 332 | } |
bulmecisco | 0:66e9a0afcbd6 | 333 | |
bulmecisco | 4:76acfddc26fb | 334 | bool ur_Bertl::frontButtonPressed() |
bulmecisco | 0:66e9a0afcbd6 | 335 | { |
bulmecisco | 4:76acfddc26fb | 336 | char cmd[3]; // array for I2C |
bulmecisco | 4:76acfddc26fb | 337 | int16_t btns; |
bulmecisco | 4:76acfddc26fb | 338 | bool wert; |
bulmecisco | 4:76acfddc26fb | 339 | |
bulmecisco | 4:76acfddc26fb | 340 | cmd[0] = 0x06; |
bulmecisco | 4:76acfddc26fb | 341 | cmd[1] = 0x00; |
bulmecisco | 4:76acfddc26fb | 342 | i2c.write(addr, cmd, 2); |
bulmecisco | 4:76acfddc26fb | 343 | |
bulmecisco | 4:76acfddc26fb | 344 | cmd[0]=0x01; |
bulmecisco | 4:76acfddc26fb | 345 | i2c.write(addr, cmd, 1); |
bulmecisco | 4:76acfddc26fb | 346 | i2c.read(addr|1, cmd, 1); |
bulmecisco | 4:76acfddc26fb | 347 | btns = cmd[0]; |
bulmecisco | 4:76acfddc26fb | 348 | if( btns & (BTN_FL|BTN_FM|BTN_FR|BTN_FRR|BTN_FLL)) |
bulmecisco | 4:76acfddc26fb | 349 | wert = true; |
bulmecisco | 4:76acfddc26fb | 350 | else |
bulmecisco | 4:76acfddc26fb | 351 | wert = false; |
bulmecisco | 4:76acfddc26fb | 352 | DEBUG_PRINT("WERT: %d", wert); |
bulmecisco | 4:76acfddc26fb | 353 | return wert; |
bulmecisco | 0:66e9a0afcbd6 | 354 | } |
bulmecisco | 0:66e9a0afcbd6 | 355 | |
bulmecisco | 5:6b667e2cb800 | 356 | |
bulmecisco | 5:6b667e2cb800 | 357 | |
bulmecisco | 4:76acfddc26fb | 358 | //-----------------INTERNAL USE ONLY ---------------------------- |
bulmecisco | 4:76acfddc26fb | 359 | void ur_Bertl::error() |
bulmecisco | 0:66e9a0afcbd6 | 360 | { |
bulmecisco | 4:76acfddc26fb | 361 | int wait = 500; |
bulmecisco | 4:76acfddc26fb | 362 | MotorR_FORWARD = MotorL_FORWARD = 0; // both motor off |
bulmecisco | 0:66e9a0afcbd6 | 363 | MotorR_REVERSE = MotorL_REVERSE = 0; // both motor off |
bulmecisco | 0:66e9a0afcbd6 | 364 | MotorR_EN=MotorL_EN=0; |
bulmecisco | 4:76acfddc26fb | 365 | while(1) { |
bulmecisco | 4:76acfddc26fb | 366 | TurnLedOff(0xFF); |
bulmecisco | 4:76acfddc26fb | 367 | LED_D10 = LED_D11 = LED_D12 = LED_D13 = 0; |
bulmecisco | 4:76acfddc26fb | 368 | LED_blue=1; |
bulmecisco | 4:76acfddc26fb | 369 | RGB_blue=RGB_green=RGB_red=1; |
bulmecisco | 4:76acfddc26fb | 370 | wait_ms(wait); |
bulmecisco | 4:76acfddc26fb | 371 | TurnLedOn(0xFF); |
bulmecisco | 4:76acfddc26fb | 372 | LED_D10 = LED_D11 = LED_D12 = LED_D13 = 1; |
bulmecisco | 4:76acfddc26fb | 373 | LED_blue=0; |
bulmecisco | 4:76acfddc26fb | 374 | RGB_blue=RGB_green=1;RGB_red=0; |
bulmecisco | 4:76acfddc26fb | 375 | wait_ms(wait); |
bulmecisco | 4:76acfddc26fb | 376 | } |
bulmecisco | 0:66e9a0afcbd6 | 377 | } |
bulmecisco | 4:76acfddc26fb | 378 | |
bulmecisco | 4:76acfddc26fb | 379 | // ISR |
bulmecisco | 4:76acfddc26fb | 380 | |
bulmecisco | 4:76acfddc26fb | 381 | void ur_Bertl::increment() |
bulmecisco | 4:76acfddc26fb | 382 | { |
bulmecisco | 4:76acfddc26fb | 383 | _count++; |
bulmecisco | 4:76acfddc26fb | 384 | } |
bulmecisco | 4:76acfddc26fb | 385 | |
bulmecisco | 4:76acfddc26fb | 386 | int ur_Bertl::Read() |
bulmecisco | 4:76acfddc26fb | 387 | { |
bulmecisco | 4:76acfddc26fb | 388 | return _count; |
bulmecisco | 4:76acfddc26fb | 389 | } |
bulmecisco | 4:76acfddc26fb | 390 | |
bulmecisco | 12:cedc088eaf05 | 391 | // -------------------- BERTL CLASS ------------------------------------- |
bulmecisco | 13:3ce84646fd74 | 392 | int Bertl::MoveBackwards(int move) |
bulmecisco | 12:cedc088eaf05 | 393 | { |
bulmecisco | 12:cedc088eaf05 | 394 | int count = _count; |
bulmecisco | 12:cedc088eaf05 | 395 | //wait_ms(250); // waite until Bertl stops |
bulmecisco | 12:cedc088eaf05 | 396 | MotorR_EN=MotorL_EN=1; // both motor ENABLE |
bulmecisco | 12:cedc088eaf05 | 397 | MotorR_REVERSE = MotorL_REVERSE = 1; // both motor backwards ON |
bulmecisco | 12:cedc088eaf05 | 398 | #ifndef TIME |
bulmecisco | 12:cedc088eaf05 | 399 | while(_count < count+move) { |
bulmecisco | 12:cedc088eaf05 | 400 | if(!backIsClear()) |
bulmecisco | 12:cedc088eaf05 | 401 | break; |
bulmecisco | 12:cedc088eaf05 | 402 | DEBUG_PRINT("count: %d _count: %d", count, _count); |
bulmecisco | 12:cedc088eaf05 | 403 | } |
bulmecisco | 12:cedc088eaf05 | 404 | #else |
bulmecisco | 12:cedc088eaf05 | 405 | wait_ms(move); |
bulmecisco | 12:cedc088eaf05 | 406 | #endif |
bulmecisco | 12:cedc088eaf05 | 407 | MotorR_REVERSE = MotorL_REVERSE = 0; // both motor off |
bulmecisco | 12:cedc088eaf05 | 408 | MotorR_EN=MotorL_EN=0; |
bulmecisco | 12:cedc088eaf05 | 409 | if(move == MOVE) |
bulmecisco | 12:cedc088eaf05 | 410 | wait_ms(250); |
bulmecisco | 13:3ce84646fd74 | 411 | return _count - count; |
bulmecisco | 12:cedc088eaf05 | 412 | } |
bulmecisco | 12:cedc088eaf05 | 413 | // ------------------------- BERT CLASS -------------------------------------- |
bulmecisco | 13:3ce84646fd74 | 414 | int Bertl::Move(int move) |
bulmecisco | 13:3ce84646fd74 | 415 | { |
bulmecisco | 13:3ce84646fd74 | 416 | int count = _count; |
bulmecisco | 13:3ce84646fd74 | 417 | MotorR_EN=MotorL_EN=1; // both motor ENABLE |
bulmecisco | 13:3ce84646fd74 | 418 | MotorR_FORWARD = MotorL_FORWARD = 1; // both motor forward ON |
bulmecisco | 13:3ce84646fd74 | 419 | #ifdef TIME |
bulmecisco | 13:3ce84646fd74 | 420 | wait_ms(move); |
bulmecisco | 13:3ce84646fd74 | 421 | #else |
bulmecisco | 13:3ce84646fd74 | 422 | |
bulmecisco | 13:3ce84646fd74 | 423 | while(_count < count+move) { |
bulmecisco | 13:3ce84646fd74 | 424 | //if(!FrontIsClear()) // more convenient because there are no accidents :-) |
bulmecisco | 13:3ce84646fd74 | 425 | // break; |
bulmecisco | 13:3ce84646fd74 | 426 | #ifdef FRONTBUTTON |
bulmecisco | 13:3ce84646fd74 | 427 | if(frontButtonPressed()) |
bulmecisco | 13:3ce84646fd74 | 428 | error(); |
bulmecisco | 13:3ce84646fd74 | 429 | #endif |
bulmecisco | 13:3ce84646fd74 | 430 | DEBUG_PRINT("count: %d _count: %d", count, _count); |
bulmecisco | 13:3ce84646fd74 | 431 | } |
bulmecisco | 13:3ce84646fd74 | 432 | #endif |
bulmecisco | 13:3ce84646fd74 | 433 | MotorR_FORWARD = MotorL_FORWARD = 0; // both motor off |
bulmecisco | 13:3ce84646fd74 | 434 | MotorR_EN=MotorL_EN=0; |
bulmecisco | 13:3ce84646fd74 | 435 | if(move == MOVE) |
bulmecisco | 13:3ce84646fd74 | 436 | wait_ms(250); |
bulmecisco | 13:3ce84646fd74 | 437 | return _count - count; |
bulmecisco | 13:3ce84646fd74 | 438 | } |
bulmecisco | 13:3ce84646fd74 | 439 | |
bulmecisco | 12:cedc088eaf05 | 440 | void Bertl::TurnRigth() |
bulmecisco | 12:cedc088eaf05 | 441 | { |
bulmecisco | 12:cedc088eaf05 | 442 | int count = _count; |
bulmecisco | 12:cedc088eaf05 | 443 | MotorR_EN=MotorL_EN=1; // motor left and right ENABLE |
bulmecisco | 12:cedc088eaf05 | 444 | |
bulmecisco | 12:cedc088eaf05 | 445 | MotorR_FORWARD = MotorL_REVERSE = 0; |
bulmecisco | 12:cedc088eaf05 | 446 | MotorL_FORWARD = MotorR_REVERSE = 1; |
bulmecisco | 12:cedc088eaf05 | 447 | #ifdef TIME |
bulmecisco | 12:cedc088eaf05 | 448 | wait_ms(TURN); |
bulmecisco | 12:cedc088eaf05 | 449 | #else |
bulmecisco | 12:cedc088eaf05 | 450 | |
bulmecisco | 12:cedc088eaf05 | 451 | while(_count < count+ANGLE) { |
bulmecisco | 12:cedc088eaf05 | 452 | #ifdef FRONTBUTTON |
bulmecisco | 12:cedc088eaf05 | 453 | if(frontButtonPressed()) // get out if to much problems |
bulmecisco | 12:cedc088eaf05 | 454 | error(); |
bulmecisco | 12:cedc088eaf05 | 455 | #endif |
bulmecisco | 12:cedc088eaf05 | 456 | DEBUG_PRINT("count: %d _count: %d", count, _count); |
bulmecisco | 12:cedc088eaf05 | 457 | } |
bulmecisco | 12:cedc088eaf05 | 458 | #endif |
bulmecisco | 12:cedc088eaf05 | 459 | MotorL_FORWARD = MotorR_REVERSE = 0; |
bulmecisco | 12:cedc088eaf05 | 460 | MotorR_FORWARD = MotorL_REVERSE = 0; |
bulmecisco | 12:cedc088eaf05 | 461 | MotorR_EN=MotorL_EN=0; |
bulmecisco | 12:cedc088eaf05 | 462 | wait_ms(250); // only to step the robot |
bulmecisco | 12:cedc088eaf05 | 463 | } |
bulmecisco | 12:cedc088eaf05 | 464 | // ------------------------- to adjust turns --------------------------------- |
bulmecisco | 12:cedc088eaf05 | 465 | void Bertl::TurnRigthStep(int step) |
bulmecisco | 12:cedc088eaf05 | 466 | { |
bulmecisco | 12:cedc088eaf05 | 467 | int count = _count; |
bulmecisco | 12:cedc088eaf05 | 468 | MotorR_EN=MotorL_EN=1; // motor left and right ENABLE |
bulmecisco | 12:cedc088eaf05 | 469 | |
bulmecisco | 12:cedc088eaf05 | 470 | MotorR_FORWARD = MotorL_REVERSE = 0; |
bulmecisco | 12:cedc088eaf05 | 471 | MotorL_FORWARD = MotorR_REVERSE = 1; |
bulmecisco | 12:cedc088eaf05 | 472 | wait_ms(step); |
bulmecisco | 12:cedc088eaf05 | 473 | #ifdef TIME |
bulmecisco | 12:cedc088eaf05 | 474 | #else |
bulmecisco | 12:cedc088eaf05 | 475 | |
bulmecisco | 12:cedc088eaf05 | 476 | while(_count < count+1) { |
bulmecisco | 12:cedc088eaf05 | 477 | #ifdef FRONTBUTTON |
bulmecisco | 12:cedc088eaf05 | 478 | if(frontButtonPressed()) // get out if to much problems |
bulmecisco | 12:cedc088eaf05 | 479 | error(); |
bulmecisco | 12:cedc088eaf05 | 480 | #endif |
bulmecisco | 12:cedc088eaf05 | 481 | DEBUG_PRINT("count: %d _count: %d", count, _count); |
bulmecisco | 12:cedc088eaf05 | 482 | } |
bulmecisco | 12:cedc088eaf05 | 483 | #endif |
bulmecisco | 12:cedc088eaf05 | 484 | MotorL_FORWARD = MotorR_REVERSE = 0; |
bulmecisco | 12:cedc088eaf05 | 485 | MotorR_FORWARD = MotorL_REVERSE = 0; |
bulmecisco | 12:cedc088eaf05 | 486 | MotorR_EN=MotorL_EN=0; |
bulmecisco | 12:cedc088eaf05 | 487 | // wait_ms(250); // only to step the robot |
bulmecisco | 12:cedc088eaf05 | 488 | } |
bulmecisco | 12:cedc088eaf05 | 489 | |
bulmecisco | 12:cedc088eaf05 | 490 | void Bertl::TurnLeftStep(int step) |
bulmecisco | 12:cedc088eaf05 | 491 | { |
bulmecisco | 12:cedc088eaf05 | 492 | int count = _count; |
bulmecisco | 12:cedc088eaf05 | 493 | MotorR_EN=MotorL_EN=1; // motor left and right ENABLE |
bulmecisco | 12:cedc088eaf05 | 494 | |
bulmecisco | 12:cedc088eaf05 | 495 | MotorR_FORWARD = MotorL_REVERSE = 1; |
bulmecisco | 12:cedc088eaf05 | 496 | wait_ms(step); |
bulmecisco | 12:cedc088eaf05 | 497 | |
bulmecisco | 12:cedc088eaf05 | 498 | #ifdef TIME |
bulmecisco | 12:cedc088eaf05 | 499 | #else |
bulmecisco | 12:cedc088eaf05 | 500 | |
bulmecisco | 12:cedc088eaf05 | 501 | while(_count < count+1) { |
bulmecisco | 12:cedc088eaf05 | 502 | #ifdef FRONTBUTTON |
bulmecisco | 12:cedc088eaf05 | 503 | if(frontButtonPressed()) // get out if to much problems |
bulmecisco | 12:cedc088eaf05 | 504 | error(); |
bulmecisco | 12:cedc088eaf05 | 505 | #endif |
bulmecisco | 12:cedc088eaf05 | 506 | DEBUG_PRINT("count: %d _count: %d", count, _count); |
bulmecisco | 12:cedc088eaf05 | 507 | } |
bulmecisco | 12:cedc088eaf05 | 508 | #endif |
bulmecisco | 12:cedc088eaf05 | 509 | MotorR_FORWARD = MotorL_REVERSE = 0; |
bulmecisco | 12:cedc088eaf05 | 510 | MotorR_EN=MotorL_EN=0; |
bulmecisco | 12:cedc088eaf05 | 511 | //wait_ms(250); // only to step the robot |
bulmecisco | 12:cedc088eaf05 | 512 | } |
bulmecisco | 12:cedc088eaf05 | 513 | |
bulmecisco | 12:cedc088eaf05 | 514 | uint8_t Bertl::GetLineValues() |
bulmecisco | 12:cedc088eaf05 | 515 | { |
bulmecisco | 12:cedc088eaf05 | 516 | uint8_t detect; |
bulmecisco | 12:cedc088eaf05 | 517 | |
bulmecisco | 12:cedc088eaf05 | 518 | detect = linesensor; |
bulmecisco | 12:cedc088eaf05 | 519 | return detect; |
bulmecisco | 13:3ce84646fd74 | 520 | } |
bulmecisco | 13:3ce84646fd74 | 521 | |
bulmecisco | 13:3ce84646fd74 | 522 | void Bertl::RGBLed(bool red, bool green, bool blue) |
bulmecisco | 13:3ce84646fd74 | 523 | { |
bulmecisco | 13:3ce84646fd74 | 524 | RGB_blue=!blue; |
bulmecisco | 13:3ce84646fd74 | 525 | RGB_red=!red; |
bulmecisco | 13:3ce84646fd74 | 526 | RGB_green=!green; |
bulmecisco | 13:3ce84646fd74 | 527 | } |