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ur_Bertl.cpp@15:43d6a7e6e64a, 2015-05-08 (annotated)
- Committer:
- bulmecisco
- Date:
- Fri May 08 08:39:12 2015 +0000
- Revision:
- 15:43d6a7e6e64a
- Parent:
- 13:3ce84646fd74
- Child:
- 17:308802267a62
Version 3.0
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; |
bulmecisco | 0:66e9a0afcbd6 | 32 | } |
bulmecisco | 0:66e9a0afcbd6 | 33 | |
bulmecisco | 0:66e9a0afcbd6 | 34 | ur_Bertl::ur_Bertl(PinName pin) : _interrupt(pin) // create the InterruptIn on the pin specified to Counter |
bulmecisco | 0:66e9a0afcbd6 | 35 | { |
bulmecisco | 4:76acfddc26fb | 36 | i2c.frequency(40000); // I2C init |
bulmecisco | 3:01b183fe8b41 | 37 | char init1[2] = {0x6, 0x00}; |
bulmecisco | 3:01b183fe8b41 | 38 | char init2[2] = {0x7, 0xff}; |
bulmecisco | 3:01b183fe8b41 | 39 | i2c.write(0x40, init1, 2); |
bulmecisco | 3:01b183fe8b41 | 40 | i2c.write(0x40, init2, 2); |
bulmecisco | 0:66e9a0afcbd6 | 41 | mg1 = mg2 = SPEED; |
bulmecisco | 0:66e9a0afcbd6 | 42 | _interrupt.rise(this, &ur_Bertl::increment); // attach increment function of this counter instance ie. motor sensor |
bulmecisco | 0:66e9a0afcbd6 | 43 | _count = 0; |
bulmecisco | 0:66e9a0afcbd6 | 44 | beepersInBag = 0; |
bulmecisco | 0:66e9a0afcbd6 | 45 | } |
bulmecisco | 0:66e9a0afcbd6 | 46 | |
bulmecisco | 0:66e9a0afcbd6 | 47 | // Pulblic methodes |
bulmecisco | 15:43d6a7e6e64a | 48 | void ur_Bertl::Move() |
bulmecisco | 0:66e9a0afcbd6 | 49 | { |
bulmecisco | 0:66e9a0afcbd6 | 50 | int count = _count; |
bulmecisco | 0:66e9a0afcbd6 | 51 | MotorR_EN=MotorL_EN=1; // both motor ENABLE |
bulmecisco | 0:66e9a0afcbd6 | 52 | MotorR_FORWARD = MotorL_FORWARD = 1; // both motor forward ON |
bulmecisco | 2:1cd559ff516b | 53 | #ifdef TIME |
bulmecisco | 15:43d6a7e6e64a | 54 | wait_ms(MOVE); |
bulmecisco | 3:01b183fe8b41 | 55 | #else |
bulmecisco | 0:66e9a0afcbd6 | 56 | |
bulmecisco | 15:43d6a7e6e64a | 57 | while(_count < count+DISTANCE) { // DISTANCE maybe change to move |
bulmecisco | 0:66e9a0afcbd6 | 58 | //if(!FrontIsClear()) // more convenient because there are no accidents :-) |
bulmecisco | 0:66e9a0afcbd6 | 59 | // break; |
bulmecisco | 0:66e9a0afcbd6 | 60 | #ifdef FRONTBUTTON |
bulmecisco | 0:66e9a0afcbd6 | 61 | if(frontButtonPressed()) |
bulmecisco | 0:66e9a0afcbd6 | 62 | error(); |
bulmecisco | 0:66e9a0afcbd6 | 63 | #endif |
bulmecisco | 0:66e9a0afcbd6 | 64 | DEBUG_PRINT("count: %d _count: %d", count, _count); |
bulmecisco | 0:66e9a0afcbd6 | 65 | } |
bulmecisco | 2:1cd559ff516b | 66 | #endif |
bulmecisco | 0:66e9a0afcbd6 | 67 | MotorR_FORWARD = MotorL_FORWARD = 0; // both motor off |
bulmecisco | 0:66e9a0afcbd6 | 68 | MotorR_EN=MotorL_EN=0; |
bulmecisco | 15:43d6a7e6e64a | 69 | //if(move == MOVE) |
bulmecisco | 12:cedc088eaf05 | 70 | wait_ms(250); |
bulmecisco | 0:66e9a0afcbd6 | 71 | } |
bulmecisco | 0:66e9a0afcbd6 | 72 | |
bulmecisco | 0:66e9a0afcbd6 | 73 | void ur_Bertl::PutBeeper() |
bulmecisco | 0:66e9a0afcbd6 | 74 | { |
bulmecisco | 0:66e9a0afcbd6 | 75 | // wait_ms(500); |
bulmecisco | 0:66e9a0afcbd6 | 76 | if(beepersInBag > 0) |
bulmecisco | 0:66e9a0afcbd6 | 77 | beepersInBag--; |
bulmecisco | 0:66e9a0afcbd6 | 78 | else |
bulmecisco | 0:66e9a0afcbd6 | 79 | error(); |
bulmecisco | 0:66e9a0afcbd6 | 80 | } |
bulmecisco | 0:66e9a0afcbd6 | 81 | |
bulmecisco | 0:66e9a0afcbd6 | 82 | void ur_Bertl::PickBeeper() |
bulmecisco | 0:66e9a0afcbd6 | 83 | { |
bulmecisco | 0:66e9a0afcbd6 | 84 | // wait_ms(500); |
bulmecisco | 0:66e9a0afcbd6 | 85 | if (linesensor) |
bulmecisco | 0:66e9a0afcbd6 | 86 | beepersInBag++; |
bulmecisco | 0:66e9a0afcbd6 | 87 | else |
bulmecisco | 0:66e9a0afcbd6 | 88 | error(); |
bulmecisco | 4:76acfddc26fb | 89 | if(beepersInBag > 16) |
bulmecisco | 4:76acfddc26fb | 90 | error(); |
bulmecisco | 0:66e9a0afcbd6 | 91 | } |
bulmecisco | 0:66e9a0afcbd6 | 92 | |
bulmecisco | 0:66e9a0afcbd6 | 93 | void ur_Bertl::TurnLeft() |
bulmecisco | 0:66e9a0afcbd6 | 94 | { |
bulmecisco | 0:66e9a0afcbd6 | 95 | int count = _count; |
bulmecisco | 0:66e9a0afcbd6 | 96 | MotorR_EN=MotorL_EN=1; // motor left and right ENABLE |
bulmecisco | 0:66e9a0afcbd6 | 97 | |
bulmecisco | 0:66e9a0afcbd6 | 98 | MotorR_FORWARD = MotorL_REVERSE = 1; |
bulmecisco | 2:1cd559ff516b | 99 | #ifdef TIME |
bulmecisco | 2:1cd559ff516b | 100 | wait_ms(TURN); |
bulmecisco | 2:1cd559ff516b | 101 | #else |
bulmecisco | 2:1cd559ff516b | 102 | |
bulmecisco | 0:66e9a0afcbd6 | 103 | while(_count < count+ANGLE) { |
bulmecisco | 0:66e9a0afcbd6 | 104 | #ifdef FRONTBUTTON |
bulmecisco | 0:66e9a0afcbd6 | 105 | if(frontButtonPressed()) // get out if to much problems |
bulmecisco | 0:66e9a0afcbd6 | 106 | error(); |
bulmecisco | 0:66e9a0afcbd6 | 107 | #endif |
bulmecisco | 0:66e9a0afcbd6 | 108 | DEBUG_PRINT("count: %d _count: %d", count, _count); |
bulmecisco | 0:66e9a0afcbd6 | 109 | } |
bulmecisco | 2:1cd559ff516b | 110 | #endif |
bulmecisco | 0:66e9a0afcbd6 | 111 | MotorR_FORWARD = MotorL_REVERSE = 0; |
bulmecisco | 0:66e9a0afcbd6 | 112 | MotorR_EN=MotorL_EN=0; |
bulmecisco | 0:66e9a0afcbd6 | 113 | wait_ms(250); // only to step the robot |
bulmecisco | 0:66e9a0afcbd6 | 114 | } |
bulmecisco | 0:66e9a0afcbd6 | 115 | |
bulmecisco | 15:43d6a7e6e64a | 116 | void ur_Bertl::TurnOff() |
bulmecisco | 0:66e9a0afcbd6 | 117 | { |
bulmecisco | 0:66e9a0afcbd6 | 118 | MotorR_FORWARD = MotorL_FORWARD = 0; // motor OFF |
bulmecisco | 0:66e9a0afcbd6 | 119 | MotorR_EN=MotorL_EN=0; // motor disable |
bulmecisco | 15:43d6a7e6e64a | 120 | MotorSpg = 0; |
bulmecisco | 15:43d6a7e6e64a | 121 | IncrementalgeberSpg = 0; |
bulmecisco | 15:43d6a7e6e64a | 122 | LinienSensorSpg = 0; |
bulmecisco | 15:43d6a7e6e64a | 123 | BlueLedsOFF(); |
bulmecisco | 15:43d6a7e6e64a | 124 | TurnLedOff(LED_ALL); |
bulmecisco | 15:43d6a7e6e64a | 125 | NibbleLeds(0x00); |
bulmecisco | 0:66e9a0afcbd6 | 126 | } |
bulmecisco | 0:66e9a0afcbd6 | 127 | |
bulmecisco | 4:76acfddc26fb | 128 | // Public LEDs methodes |
bulmecisco | 0:66e9a0afcbd6 | 129 | |
bulmecisco | 0:66e9a0afcbd6 | 130 | void ur_Bertl::BlueLedsON() |
bulmecisco | 0:66e9a0afcbd6 | 131 | { |
bulmecisco | 0:66e9a0afcbd6 | 132 | LED_blue=0; |
bulmecisco | 0:66e9a0afcbd6 | 133 | } |
bulmecisco | 0:66e9a0afcbd6 | 134 | |
bulmecisco | 0:66e9a0afcbd6 | 135 | void ur_Bertl::BlueLedsOFF() |
bulmecisco | 0:66e9a0afcbd6 | 136 | { |
bulmecisco | 0:66e9a0afcbd6 | 137 | LED_blue=1; |
bulmecisco | 0:66e9a0afcbd6 | 138 | } |
bulmecisco | 0:66e9a0afcbd6 | 139 | |
bulmecisco | 0:66e9a0afcbd6 | 140 | void ur_Bertl::RGBLed(bool red, bool green, bool blue) |
bulmecisco | 0:66e9a0afcbd6 | 141 | { |
bulmecisco | 0:66e9a0afcbd6 | 142 | RGB_blue=!blue; |
bulmecisco | 0:66e9a0afcbd6 | 143 | RGB_red=!red; |
bulmecisco | 0:66e9a0afcbd6 | 144 | RGB_green=!green; |
bulmecisco | 0:66e9a0afcbd6 | 145 | } |
bulmecisco | 0:66e9a0afcbd6 | 146 | |
bulmecisco | 0:66e9a0afcbd6 | 147 | void ur_Bertl::TurnLedOn(int16_t led) |
bulmecisco | 0:66e9a0afcbd6 | 148 | { |
bulmecisco | 0:66e9a0afcbd6 | 149 | char cmd[3]; |
bulmecisco | 0:66e9a0afcbd6 | 150 | |
bulmecisco | 1:fafbac0ba96d | 151 | if(led == 0xBB) { |
bulmecisco | 1:fafbac0ba96d | 152 | LED_blue=0; |
bulmecisco | 1:fafbac0ba96d | 153 | return; |
bulmecisco | 1:fafbac0ba96d | 154 | } else if (led == 0xFF) { |
bulmecisco | 1:fafbac0ba96d | 155 | RGBLed(1,1,1); |
bulmecisco | 1:fafbac0ba96d | 156 | LED_blue=0; |
bulmecisco | 1:fafbac0ba96d | 157 | } |
bulmecisco | 0:66e9a0afcbd6 | 158 | cmd[0] = 0x02; |
bulmecisco | 0:66e9a0afcbd6 | 159 | cmd[1] = ~led; |
bulmecisco | 0:66e9a0afcbd6 | 160 | i2c.write(addr, cmd, 2); |
bulmecisco | 0:66e9a0afcbd6 | 161 | wait(0.5); |
bulmecisco | 0:66e9a0afcbd6 | 162 | } |
bulmecisco | 0:66e9a0afcbd6 | 163 | |
bulmecisco | 0:66e9a0afcbd6 | 164 | void ur_Bertl::TurnLedOff(int16_t led) |
bulmecisco | 0:66e9a0afcbd6 | 165 | { |
bulmecisco | 0:66e9a0afcbd6 | 166 | char cmd[3]; |
bulmecisco | 1:fafbac0ba96d | 167 | if(led == 0xBB) { |
bulmecisco | 1:fafbac0ba96d | 168 | LED_blue=1; |
bulmecisco | 1:fafbac0ba96d | 169 | return; |
bulmecisco | 1:fafbac0ba96d | 170 | } else if (led == 0xFF) { |
bulmecisco | 1:fafbac0ba96d | 171 | RGBLed(0,0,0); //don't work? |
bulmecisco | 1:fafbac0ba96d | 172 | LED_blue=1; |
bulmecisco | 1:fafbac0ba96d | 173 | } |
bulmecisco | 0:66e9a0afcbd6 | 174 | cmd[0] = 0x02; |
bulmecisco | 0:66e9a0afcbd6 | 175 | cmd[1] = led; |
bulmecisco | 0:66e9a0afcbd6 | 176 | i2c.write(addr, cmd, 2); |
bulmecisco | 0:66e9a0afcbd6 | 177 | wait(0.5); |
bulmecisco | 0:66e9a0afcbd6 | 178 | } |
bulmecisco | 0:66e9a0afcbd6 | 179 | |
bulmecisco | 0:66e9a0afcbd6 | 180 | void ur_Bertl::NibbleLeds(int value) |
bulmecisco | 0:66e9a0afcbd6 | 181 | { |
bulmecisco | 0:66e9a0afcbd6 | 182 | NibbleLEDs = value%16; |
bulmecisco | 0:66e9a0afcbd6 | 183 | } |
bulmecisco | 0:66e9a0afcbd6 | 184 | |
bulmecisco | 0:66e9a0afcbd6 | 185 | //---------------------------------------------------------------------- |
bulmecisco | 1:fafbac0ba96d | 186 | |
bulmecisco | 0:66e9a0afcbd6 | 187 | bool ur_Bertl::FrontIsClear() |
bulmecisco | 0:66e9a0afcbd6 | 188 | { |
bulmecisco | 1:fafbac0ba96d | 189 | #ifdef HCSR |
bulmecisco | 0:66e9a0afcbd6 | 190 | int dist = 0; |
bulmecisco | 0:66e9a0afcbd6 | 191 | usensor.start(); |
bulmecisco | 0:66e9a0afcbd6 | 192 | wait_ms(10); |
bulmecisco | 0:66e9a0afcbd6 | 193 | dist=usensor.get_dist_cm(); |
bulmecisco | 6:df6830254e8b | 194 | if(dist < ULTRASONIC_DISTANCE) |
bulmecisco | 0:66e9a0afcbd6 | 195 | return false; |
bulmecisco | 0:66e9a0afcbd6 | 196 | else |
bulmecisco | 0:66e9a0afcbd6 | 197 | return true; |
bulmecisco | 1:fafbac0ba96d | 198 | #else |
bulmecisco | 0:66e9a0afcbd6 | 199 | // if there is no ultra sonic sensor use this - with front buttons |
bulmecisco | 0:66e9a0afcbd6 | 200 | char cmd[3]; // array for I2C |
bulmecisco | 0:66e9a0afcbd6 | 201 | int16_t btns; |
bulmecisco | 0:66e9a0afcbd6 | 202 | bool wert; |
bulmecisco | 0:66e9a0afcbd6 | 203 | |
bulmecisco | 0:66e9a0afcbd6 | 204 | cmd[0] = 0x06; |
bulmecisco | 0:66e9a0afcbd6 | 205 | cmd[1] = 0x00; |
bulmecisco | 0:66e9a0afcbd6 | 206 | i2c.write(addr, cmd, 2); |
bulmecisco | 0:66e9a0afcbd6 | 207 | |
bulmecisco | 0:66e9a0afcbd6 | 208 | cmd[0]=0x01; |
bulmecisco | 0:66e9a0afcbd6 | 209 | i2c.write(addr, cmd, 1); |
bulmecisco | 0:66e9a0afcbd6 | 210 | i2c.read(addr|1, cmd, 1); |
bulmecisco | 0:66e9a0afcbd6 | 211 | btns = cmd[0]; |
bulmecisco | 0:66e9a0afcbd6 | 212 | if( btns & (BTN_FL|BTN_FM|BTN_FR)) |
bulmecisco | 0:66e9a0afcbd6 | 213 | wert = false; |
bulmecisco | 0:66e9a0afcbd6 | 214 | else |
bulmecisco | 0:66e9a0afcbd6 | 215 | wert = true; |
bulmecisco | 0:66e9a0afcbd6 | 216 | DEBUG_PRINT("WERT: %d", wert); |
bulmecisco | 0:66e9a0afcbd6 | 217 | return wert; |
bulmecisco | 1:fafbac0ba96d | 218 | #endif |
bulmecisco | 0:66e9a0afcbd6 | 219 | } |
bulmecisco | 0:66e9a0afcbd6 | 220 | |
bulmecisco | 4:76acfddc26fb | 221 | bool ur_Bertl::WaitUntilButtonPressed() |
bulmecisco | 4:76acfddc26fb | 222 | { |
bulmecisco | 4:76acfddc26fb | 223 | char cmd[3]; |
bulmecisco | 4:76acfddc26fb | 224 | int16_t btns; |
bulmecisco | 4:76acfddc26fb | 225 | bool wert; |
bulmecisco | 4:76acfddc26fb | 226 | |
bulmecisco | 4:76acfddc26fb | 227 | RGB_blue=RGB_red=RGB_green=0; |
bulmecisco | 4:76acfddc26fb | 228 | cmd[0] = 0x06; |
bulmecisco | 4:76acfddc26fb | 229 | cmd[1] = 0x00; |
bulmecisco | 4:76acfddc26fb | 230 | i2c.write(addr, cmd, 2); |
bulmecisco | 4:76acfddc26fb | 231 | |
bulmecisco | 4:76acfddc26fb | 232 | cmd[0]=0x01; |
bulmecisco | 4:76acfddc26fb | 233 | i2c.write(addr, cmd, 1); |
bulmecisco | 4:76acfddc26fb | 234 | i2c.read(addr|1, cmd, 1); |
bulmecisco | 4:76acfddc26fb | 235 | btns = cmd[0]; |
bulmecisco | 4:76acfddc26fb | 236 | if( btns & (0xFF)) |
bulmecisco | 4:76acfddc26fb | 237 | wert = false; |
bulmecisco | 4:76acfddc26fb | 238 | else |
bulmecisco | 4:76acfddc26fb | 239 | wert = true; |
bulmecisco | 4:76acfddc26fb | 240 | DEBUG_PRINT("\right\nWERT: %d \right\n", wert); |
bulmecisco | 4:76acfddc26fb | 241 | return wert; |
bulmecisco | 4:76acfddc26fb | 242 | } |
bulmecisco | 4:76acfddc26fb | 243 | |
bulmecisco | 0:66e9a0afcbd6 | 244 | bool ur_Bertl::NextToABeeper() |
bulmecisco | 0:66e9a0afcbd6 | 245 | { |
bulmecisco | 4:76acfddc26fb | 246 | if (bottomIsBlack()) |
bulmecisco | 0:66e9a0afcbd6 | 247 | return true; |
bulmecisco | 0:66e9a0afcbd6 | 248 | else |
bulmecisco | 0:66e9a0afcbd6 | 249 | return false; |
bulmecisco | 0:66e9a0afcbd6 | 250 | } |
bulmecisco | 0:66e9a0afcbd6 | 251 | |
bulmecisco | 0:66e9a0afcbd6 | 252 | int ur_Bertl::AnyBeeperInBag() |
bulmecisco | 0:66e9a0afcbd6 | 253 | { |
bulmecisco | 0:66e9a0afcbd6 | 254 | if(beepersInBag > 0) |
bulmecisco | 0:66e9a0afcbd6 | 255 | return beepersInBag; |
bulmecisco | 0:66e9a0afcbd6 | 256 | else |
bulmecisco | 0:66e9a0afcbd6 | 257 | return 0; |
bulmecisco | 0:66e9a0afcbd6 | 258 | } |
bulmecisco | 0:66e9a0afcbd6 | 259 | |
bulmecisco | 5:6b667e2cb800 | 260 | bool ur_Bertl::IsButtonPressed(const int btn) |
bulmecisco | 5:6b667e2cb800 | 261 | { |
bulmecisco | 5:6b667e2cb800 | 262 | char cmd[3]; // array for I2C |
bulmecisco | 5:6b667e2cb800 | 263 | int16_t btns; |
bulmecisco | 5:6b667e2cb800 | 264 | bool wert; |
bulmecisco | 5:6b667e2cb800 | 265 | |
bulmecisco | 5:6b667e2cb800 | 266 | cmd[0] = 0x06; |
bulmecisco | 5:6b667e2cb800 | 267 | cmd[1] = 0x00; |
bulmecisco | 5:6b667e2cb800 | 268 | i2c.write(addr, cmd, 2); |
bulmecisco | 5:6b667e2cb800 | 269 | |
bulmecisco | 5:6b667e2cb800 | 270 | cmd[0]=0x01; |
bulmecisco | 5:6b667e2cb800 | 271 | i2c.write(addr, cmd, 1); |
bulmecisco | 5:6b667e2cb800 | 272 | i2c.read(addr|1, cmd, 1); |
bulmecisco | 5:6b667e2cb800 | 273 | btns = cmd[0]; |
bulmecisco | 5:6b667e2cb800 | 274 | if( btns & btn) |
bulmecisco | 5:6b667e2cb800 | 275 | wert = true; |
bulmecisco | 5:6b667e2cb800 | 276 | else |
bulmecisco | 5:6b667e2cb800 | 277 | wert = false; |
bulmecisco | 5:6b667e2cb800 | 278 | DEBUG_PRINT("WERT: %d", wert); |
bulmecisco | 5:6b667e2cb800 | 279 | return wert; |
bulmecisco | 5:6b667e2cb800 | 280 | } |
bulmecisco | 5:6b667e2cb800 | 281 | |
bulmecisco | 7:e7f74f072564 | 282 | int ur_Bertl::ReturnButtonPressed() |
bulmecisco | 7:e7f74f072564 | 283 | { |
bulmecisco | 7:e7f74f072564 | 284 | char cmd[3]; // array for I2C |
bulmecisco | 7:e7f74f072564 | 285 | int16_t btns; |
bulmecisco | 7:e7f74f072564 | 286 | |
bulmecisco | 7:e7f74f072564 | 287 | cmd[0] = 0x06; |
bulmecisco | 7:e7f74f072564 | 288 | cmd[1] = 0x00; |
bulmecisco | 7:e7f74f072564 | 289 | i2c.write(addr, cmd, 2); |
bulmecisco | 7:e7f74f072564 | 290 | |
bulmecisco | 7:e7f74f072564 | 291 | cmd[0]=0x01; |
bulmecisco | 7:e7f74f072564 | 292 | i2c.write(addr, cmd, 1); |
bulmecisco | 7:e7f74f072564 | 293 | i2c.read(addr|1, cmd, 1); |
bulmecisco | 7:e7f74f072564 | 294 | btns = cmd[0]; |
bulmecisco | 7:e7f74f072564 | 295 | DEBUG_PRINT("Button: %d", btns); |
bulmecisco | 7:e7f74f072564 | 296 | return btns; |
bulmecisco | 7:e7f74f072564 | 297 | } |
bulmecisco | 4:76acfddc26fb | 298 | // Protected methodes |
bulmecisco | 4:76acfddc26fb | 299 | |
bulmecisco | 4:76acfddc26fb | 300 | int ur_Bertl::bottomIsBlack() |
bulmecisco | 4:76acfddc26fb | 301 | { |
bulmecisco | 4:76acfddc26fb | 302 | int detect; |
bulmecisco | 4:76acfddc26fb | 303 | |
bulmecisco | 4:76acfddc26fb | 304 | detect = linesensor; |
bulmecisco | 4:76acfddc26fb | 305 | return detect; |
bulmecisco | 4:76acfddc26fb | 306 | } |
bulmecisco | 4:76acfddc26fb | 307 | |
bulmecisco | 0:66e9a0afcbd6 | 308 | bool ur_Bertl::backIsClear() |
bulmecisco | 0:66e9a0afcbd6 | 309 | { |
bulmecisco | 0:66e9a0afcbd6 | 310 | char cmd[3]; // array for I2C |
bulmecisco | 0:66e9a0afcbd6 | 311 | int16_t btns; |
bulmecisco | 0:66e9a0afcbd6 | 312 | bool wert; |
bulmecisco | 0:66e9a0afcbd6 | 313 | |
bulmecisco | 0:66e9a0afcbd6 | 314 | cmd[0] = 0x06; |
bulmecisco | 0:66e9a0afcbd6 | 315 | cmd[1] = 0x00; |
bulmecisco | 0:66e9a0afcbd6 | 316 | i2c.write(addr, cmd, 2); |
bulmecisco | 0:66e9a0afcbd6 | 317 | |
bulmecisco | 0:66e9a0afcbd6 | 318 | cmd[0]=0x01; |
bulmecisco | 0:66e9a0afcbd6 | 319 | i2c.write(addr, cmd, 1); |
bulmecisco | 0:66e9a0afcbd6 | 320 | i2c.read(addr|1, cmd, 1); |
bulmecisco | 0:66e9a0afcbd6 | 321 | btns = cmd[0]; |
bulmecisco | 0:66e9a0afcbd6 | 322 | if( btns & (BTN_BL|BTN_BM|BTN_BR)) |
bulmecisco | 0:66e9a0afcbd6 | 323 | wert = false; |
bulmecisco | 0:66e9a0afcbd6 | 324 | else |
bulmecisco | 0:66e9a0afcbd6 | 325 | wert = true; |
bulmecisco | 0:66e9a0afcbd6 | 326 | DEBUG_PRINT("WERT: %d", wert); |
bulmecisco | 0:66e9a0afcbd6 | 327 | return wert; |
bulmecisco | 0:66e9a0afcbd6 | 328 | } |
bulmecisco | 0:66e9a0afcbd6 | 329 | |
bulmecisco | 4:76acfddc26fb | 330 | bool ur_Bertl::frontButtonPressed() |
bulmecisco | 0:66e9a0afcbd6 | 331 | { |
bulmecisco | 4:76acfddc26fb | 332 | char cmd[3]; // array for I2C |
bulmecisco | 4:76acfddc26fb | 333 | int16_t btns; |
bulmecisco | 4:76acfddc26fb | 334 | bool wert; |
bulmecisco | 4:76acfddc26fb | 335 | |
bulmecisco | 4:76acfddc26fb | 336 | cmd[0] = 0x06; |
bulmecisco | 4:76acfddc26fb | 337 | cmd[1] = 0x00; |
bulmecisco | 4:76acfddc26fb | 338 | i2c.write(addr, cmd, 2); |
bulmecisco | 4:76acfddc26fb | 339 | |
bulmecisco | 4:76acfddc26fb | 340 | cmd[0]=0x01; |
bulmecisco | 4:76acfddc26fb | 341 | i2c.write(addr, cmd, 1); |
bulmecisco | 4:76acfddc26fb | 342 | i2c.read(addr|1, cmd, 1); |
bulmecisco | 4:76acfddc26fb | 343 | btns = cmd[0]; |
bulmecisco | 4:76acfddc26fb | 344 | if( btns & (BTN_FL|BTN_FM|BTN_FR|BTN_FRR|BTN_FLL)) |
bulmecisco | 4:76acfddc26fb | 345 | wert = true; |
bulmecisco | 4:76acfddc26fb | 346 | else |
bulmecisco | 4:76acfddc26fb | 347 | wert = false; |
bulmecisco | 4:76acfddc26fb | 348 | DEBUG_PRINT("WERT: %d", wert); |
bulmecisco | 4:76acfddc26fb | 349 | return wert; |
bulmecisco | 0:66e9a0afcbd6 | 350 | } |
bulmecisco | 0:66e9a0afcbd6 | 351 | |
bulmecisco | 5:6b667e2cb800 | 352 | |
bulmecisco | 5:6b667e2cb800 | 353 | |
bulmecisco | 4:76acfddc26fb | 354 | //-----------------INTERNAL USE ONLY ---------------------------- |
bulmecisco | 4:76acfddc26fb | 355 | void ur_Bertl::error() |
bulmecisco | 0:66e9a0afcbd6 | 356 | { |
bulmecisco | 4:76acfddc26fb | 357 | int wait = 500; |
bulmecisco | 4:76acfddc26fb | 358 | MotorR_FORWARD = MotorL_FORWARD = 0; // both motor off |
bulmecisco | 0:66e9a0afcbd6 | 359 | MotorR_REVERSE = MotorL_REVERSE = 0; // both motor off |
bulmecisco | 0:66e9a0afcbd6 | 360 | MotorR_EN=MotorL_EN=0; |
bulmecisco | 4:76acfddc26fb | 361 | while(1) { |
bulmecisco | 4:76acfddc26fb | 362 | TurnLedOff(0xFF); |
bulmecisco | 4:76acfddc26fb | 363 | LED_D10 = LED_D11 = LED_D12 = LED_D13 = 0; |
bulmecisco | 4:76acfddc26fb | 364 | LED_blue=1; |
bulmecisco | 4:76acfddc26fb | 365 | RGB_blue=RGB_green=RGB_red=1; |
bulmecisco | 4:76acfddc26fb | 366 | wait_ms(wait); |
bulmecisco | 4:76acfddc26fb | 367 | TurnLedOn(0xFF); |
bulmecisco | 4:76acfddc26fb | 368 | LED_D10 = LED_D11 = LED_D12 = LED_D13 = 1; |
bulmecisco | 4:76acfddc26fb | 369 | LED_blue=0; |
bulmecisco | 4:76acfddc26fb | 370 | RGB_blue=RGB_green=1;RGB_red=0; |
bulmecisco | 4:76acfddc26fb | 371 | wait_ms(wait); |
bulmecisco | 4:76acfddc26fb | 372 | } |
bulmecisco | 0:66e9a0afcbd6 | 373 | } |
bulmecisco | 4:76acfddc26fb | 374 | |
bulmecisco | 4:76acfddc26fb | 375 | // ISR |
bulmecisco | 4:76acfddc26fb | 376 | |
bulmecisco | 4:76acfddc26fb | 377 | void ur_Bertl::increment() |
bulmecisco | 4:76acfddc26fb | 378 | { |
bulmecisco | 4:76acfddc26fb | 379 | _count++; |
bulmecisco | 4:76acfddc26fb | 380 | } |
bulmecisco | 4:76acfddc26fb | 381 | |
bulmecisco | 4:76acfddc26fb | 382 | int ur_Bertl::Read() |
bulmecisco | 4:76acfddc26fb | 383 | { |
bulmecisco | 4:76acfddc26fb | 384 | return _count; |
bulmecisco | 4:76acfddc26fb | 385 | } |
bulmecisco | 4:76acfddc26fb | 386 | |
bulmecisco | 12:cedc088eaf05 | 387 | // -------------------- BERTL CLASS ------------------------------------- |
bulmecisco | 13:3ce84646fd74 | 388 | int Bertl::MoveBackwards(int move) |
bulmecisco | 12:cedc088eaf05 | 389 | { |
bulmecisco | 12:cedc088eaf05 | 390 | int count = _count; |
bulmecisco | 12:cedc088eaf05 | 391 | //wait_ms(250); // waite until Bertl stops |
bulmecisco | 12:cedc088eaf05 | 392 | MotorR_EN=MotorL_EN=1; // both motor ENABLE |
bulmecisco | 12:cedc088eaf05 | 393 | MotorR_REVERSE = MotorL_REVERSE = 1; // both motor backwards ON |
bulmecisco | 12:cedc088eaf05 | 394 | #ifndef TIME |
bulmecisco | 12:cedc088eaf05 | 395 | while(_count < count+move) { |
bulmecisco | 12:cedc088eaf05 | 396 | if(!backIsClear()) |
bulmecisco | 12:cedc088eaf05 | 397 | break; |
bulmecisco | 12:cedc088eaf05 | 398 | DEBUG_PRINT("count: %d _count: %d", count, _count); |
bulmecisco | 12:cedc088eaf05 | 399 | } |
bulmecisco | 12:cedc088eaf05 | 400 | #else |
bulmecisco | 12:cedc088eaf05 | 401 | wait_ms(move); |
bulmecisco | 12:cedc088eaf05 | 402 | #endif |
bulmecisco | 12:cedc088eaf05 | 403 | MotorR_REVERSE = MotorL_REVERSE = 0; // both motor off |
bulmecisco | 12:cedc088eaf05 | 404 | MotorR_EN=MotorL_EN=0; |
bulmecisco | 12:cedc088eaf05 | 405 | if(move == MOVE) |
bulmecisco | 12:cedc088eaf05 | 406 | wait_ms(250); |
bulmecisco | 13:3ce84646fd74 | 407 | return _count - count; |
bulmecisco | 12:cedc088eaf05 | 408 | } |
bulmecisco | 12:cedc088eaf05 | 409 | // ------------------------- BERT CLASS -------------------------------------- |
bulmecisco | 13:3ce84646fd74 | 410 | int Bertl::Move(int move) |
bulmecisco | 13:3ce84646fd74 | 411 | { |
bulmecisco | 13:3ce84646fd74 | 412 | int count = _count; |
bulmecisco | 13:3ce84646fd74 | 413 | MotorR_EN=MotorL_EN=1; // both motor ENABLE |
bulmecisco | 13:3ce84646fd74 | 414 | MotorR_FORWARD = MotorL_FORWARD = 1; // both motor forward ON |
bulmecisco | 13:3ce84646fd74 | 415 | #ifdef TIME |
bulmecisco | 13:3ce84646fd74 | 416 | wait_ms(move); |
bulmecisco | 13:3ce84646fd74 | 417 | #else |
bulmecisco | 13:3ce84646fd74 | 418 | |
bulmecisco | 13:3ce84646fd74 | 419 | while(_count < count+move) { |
bulmecisco | 13:3ce84646fd74 | 420 | //if(!FrontIsClear()) // more convenient because there are no accidents :-) |
bulmecisco | 13:3ce84646fd74 | 421 | // break; |
bulmecisco | 13:3ce84646fd74 | 422 | #ifdef FRONTBUTTON |
bulmecisco | 13:3ce84646fd74 | 423 | if(frontButtonPressed()) |
bulmecisco | 13:3ce84646fd74 | 424 | error(); |
bulmecisco | 13:3ce84646fd74 | 425 | #endif |
bulmecisco | 13:3ce84646fd74 | 426 | DEBUG_PRINT("count: %d _count: %d", count, _count); |
bulmecisco | 13:3ce84646fd74 | 427 | } |
bulmecisco | 13:3ce84646fd74 | 428 | #endif |
bulmecisco | 13:3ce84646fd74 | 429 | MotorR_FORWARD = MotorL_FORWARD = 0; // both motor off |
bulmecisco | 13:3ce84646fd74 | 430 | MotorR_EN=MotorL_EN=0; |
bulmecisco | 13:3ce84646fd74 | 431 | if(move == MOVE) |
bulmecisco | 13:3ce84646fd74 | 432 | wait_ms(250); |
bulmecisco | 13:3ce84646fd74 | 433 | return _count - count; |
bulmecisco | 13:3ce84646fd74 | 434 | } |
bulmecisco | 13:3ce84646fd74 | 435 | |
bulmecisco | 12:cedc088eaf05 | 436 | void Bertl::TurnRigth() |
bulmecisco | 12:cedc088eaf05 | 437 | { |
bulmecisco | 12:cedc088eaf05 | 438 | int count = _count; |
bulmecisco | 12:cedc088eaf05 | 439 | MotorR_EN=MotorL_EN=1; // motor left and right ENABLE |
bulmecisco | 12:cedc088eaf05 | 440 | |
bulmecisco | 12:cedc088eaf05 | 441 | MotorR_FORWARD = MotorL_REVERSE = 0; |
bulmecisco | 12:cedc088eaf05 | 442 | MotorL_FORWARD = MotorR_REVERSE = 1; |
bulmecisco | 12:cedc088eaf05 | 443 | #ifdef TIME |
bulmecisco | 12:cedc088eaf05 | 444 | wait_ms(TURN); |
bulmecisco | 12:cedc088eaf05 | 445 | #else |
bulmecisco | 12:cedc088eaf05 | 446 | |
bulmecisco | 12:cedc088eaf05 | 447 | while(_count < count+ANGLE) { |
bulmecisco | 12:cedc088eaf05 | 448 | #ifdef FRONTBUTTON |
bulmecisco | 12:cedc088eaf05 | 449 | if(frontButtonPressed()) // get out if to much problems |
bulmecisco | 12:cedc088eaf05 | 450 | error(); |
bulmecisco | 12:cedc088eaf05 | 451 | #endif |
bulmecisco | 12:cedc088eaf05 | 452 | DEBUG_PRINT("count: %d _count: %d", count, _count); |
bulmecisco | 12:cedc088eaf05 | 453 | } |
bulmecisco | 12:cedc088eaf05 | 454 | #endif |
bulmecisco | 12:cedc088eaf05 | 455 | MotorL_FORWARD = MotorR_REVERSE = 0; |
bulmecisco | 12:cedc088eaf05 | 456 | MotorR_FORWARD = MotorL_REVERSE = 0; |
bulmecisco | 12:cedc088eaf05 | 457 | MotorR_EN=MotorL_EN=0; |
bulmecisco | 12:cedc088eaf05 | 458 | wait_ms(250); // only to step the robot |
bulmecisco | 12:cedc088eaf05 | 459 | } |
bulmecisco | 12:cedc088eaf05 | 460 | // ------------------------- to adjust turns --------------------------------- |
bulmecisco | 12:cedc088eaf05 | 461 | void Bertl::TurnRigthStep(int step) |
bulmecisco | 12:cedc088eaf05 | 462 | { |
bulmecisco | 12:cedc088eaf05 | 463 | int count = _count; |
bulmecisco | 12:cedc088eaf05 | 464 | MotorR_EN=MotorL_EN=1; // motor left and right ENABLE |
bulmecisco | 12:cedc088eaf05 | 465 | |
bulmecisco | 12:cedc088eaf05 | 466 | MotorR_FORWARD = MotorL_REVERSE = 0; |
bulmecisco | 12:cedc088eaf05 | 467 | MotorL_FORWARD = MotorR_REVERSE = 1; |
bulmecisco | 12:cedc088eaf05 | 468 | wait_ms(step); |
bulmecisco | 12:cedc088eaf05 | 469 | #ifdef TIME |
bulmecisco | 12:cedc088eaf05 | 470 | #else |
bulmecisco | 12:cedc088eaf05 | 471 | |
bulmecisco | 12:cedc088eaf05 | 472 | while(_count < count+1) { |
bulmecisco | 12:cedc088eaf05 | 473 | #ifdef FRONTBUTTON |
bulmecisco | 12:cedc088eaf05 | 474 | if(frontButtonPressed()) // get out if to much problems |
bulmecisco | 12:cedc088eaf05 | 475 | error(); |
bulmecisco | 12:cedc088eaf05 | 476 | #endif |
bulmecisco | 12:cedc088eaf05 | 477 | DEBUG_PRINT("count: %d _count: %d", count, _count); |
bulmecisco | 12:cedc088eaf05 | 478 | } |
bulmecisco | 12:cedc088eaf05 | 479 | #endif |
bulmecisco | 12:cedc088eaf05 | 480 | MotorL_FORWARD = MotorR_REVERSE = 0; |
bulmecisco | 12:cedc088eaf05 | 481 | MotorR_FORWARD = MotorL_REVERSE = 0; |
bulmecisco | 12:cedc088eaf05 | 482 | MotorR_EN=MotorL_EN=0; |
bulmecisco | 12:cedc088eaf05 | 483 | // wait_ms(250); // only to step the robot |
bulmecisco | 12:cedc088eaf05 | 484 | } |
bulmecisco | 12:cedc088eaf05 | 485 | |
bulmecisco | 12:cedc088eaf05 | 486 | void Bertl::TurnLeftStep(int step) |
bulmecisco | 12:cedc088eaf05 | 487 | { |
bulmecisco | 12:cedc088eaf05 | 488 | int count = _count; |
bulmecisco | 12:cedc088eaf05 | 489 | MotorR_EN=MotorL_EN=1; // motor left and right ENABLE |
bulmecisco | 12:cedc088eaf05 | 490 | |
bulmecisco | 12:cedc088eaf05 | 491 | MotorR_FORWARD = MotorL_REVERSE = 1; |
bulmecisco | 12:cedc088eaf05 | 492 | wait_ms(step); |
bulmecisco | 12:cedc088eaf05 | 493 | |
bulmecisco | 12:cedc088eaf05 | 494 | #ifdef TIME |
bulmecisco | 12:cedc088eaf05 | 495 | #else |
bulmecisco | 12:cedc088eaf05 | 496 | |
bulmecisco | 12:cedc088eaf05 | 497 | while(_count < count+1) { |
bulmecisco | 12:cedc088eaf05 | 498 | #ifdef FRONTBUTTON |
bulmecisco | 12:cedc088eaf05 | 499 | if(frontButtonPressed()) // get out if to much problems |
bulmecisco | 12:cedc088eaf05 | 500 | error(); |
bulmecisco | 12:cedc088eaf05 | 501 | #endif |
bulmecisco | 12:cedc088eaf05 | 502 | DEBUG_PRINT("count: %d _count: %d", count, _count); |
bulmecisco | 12:cedc088eaf05 | 503 | } |
bulmecisco | 12:cedc088eaf05 | 504 | #endif |
bulmecisco | 12:cedc088eaf05 | 505 | MotorR_FORWARD = MotorL_REVERSE = 0; |
bulmecisco | 12:cedc088eaf05 | 506 | MotorR_EN=MotorL_EN=0; |
bulmecisco | 12:cedc088eaf05 | 507 | //wait_ms(250); // only to step the robot |
bulmecisco | 12:cedc088eaf05 | 508 | } |
bulmecisco | 12:cedc088eaf05 | 509 | |
bulmecisco | 12:cedc088eaf05 | 510 | uint8_t Bertl::GetLineValues() |
bulmecisco | 12:cedc088eaf05 | 511 | { |
bulmecisco | 12:cedc088eaf05 | 512 | uint8_t detect; |
bulmecisco | 12:cedc088eaf05 | 513 | |
bulmecisco | 12:cedc088eaf05 | 514 | detect = linesensor; |
bulmecisco | 12:cedc088eaf05 | 515 | return detect; |
bulmecisco | 13:3ce84646fd74 | 516 | } |
bulmecisco | 13:3ce84646fd74 | 517 | |
bulmecisco | 13:3ce84646fd74 | 518 | void Bertl::RGBLed(bool red, bool green, bool blue) |
bulmecisco | 13:3ce84646fd74 | 519 | { |
bulmecisco | 13:3ce84646fd74 | 520 | RGB_blue=!blue; |
bulmecisco | 13:3ce84646fd74 | 521 | RGB_red=!red; |
bulmecisco | 13:3ce84646fd74 | 522 | RGB_green=!green; |
bulmecisco | 13:3ce84646fd74 | 523 | } |