Revision 1:60ad9c191ea9, committed 2019-03-14

Comitter:

QingshuZhang

Date:

Thu Mar 14 14:37:20 2019 +0000

Parent:

0:aed6099bd419

Commit message:

TDPS3;

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/L298.cpp	Thu Mar 14 14:37:20 2019 +0000
@@ -0,0 +1,50 @@
+#include "L298_H.h"
+#include <mbed.h>
+
+
+L298::L298(PinName pin1, PinName pin2, PinName pin3):m_motorEnable(pin1),m_motorBw(pin2),m_motorFw(pin3){
+    /*class constructor : initializes the motors with 
+    forward enable and speed of 0.3 */
+    
+    //m_dir = true;
+    //m_speed = 0.2;
+    
+    m_motorEnable.period_ms(1);
+    
+    SetDirection(1);
+    SetSpeed(0.2);
+}
+    
+    
+void L298::SetDirection(bool dir){
+    /*set direction of one of the sides depending on pwmSelect
+    direction : 1 go forward  ,0 go backwards*/    
+    
+    
+    
+    if(dir){
+        m_motorBw = 0;
+        m_motorFw = 1; 
+    }
+    else{
+        m_motorBw = 1;
+        m_motorFw = 0;
+    }
+        
+    
+    m_prevDir = dir;
+        
+}
+
+
+void L298::SetSpeed(float speed){
+    /*set speed on the pwm which is point by m_pwmPtr (set by SetDirection)
+    speed : the speed given to the motor, ranges from 0 to 1*/
+    
+    if(speed<=0) m_motorEnable.write(0);
+    else if(speed>=1.0)m_motorEnable.write(1.0);
+    else m_motorEnable.write(speed);   
+         
+}
+
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/L298_H.h	Thu Mar 14 14:37:20 2019 +0000
@@ -0,0 +1,37 @@
+#ifndef L298_H
+#define L298_H
+
+#include <mbed.h>
+
+//RobotControl is used to control the direction and speed of the robot
+//attributes : the pinouts of the enable and pwm forward and backwards
+//methods : SetSpeed and SetDirection to set speed and set direction
+
+class L298
+{
+private:
+    
+    DigitalOut m_motorBw;
+    DigitalOut m_motorFw;
+    PwmOut m_motorEnable;
+    
+    
+    bool m_prevDir;
+    
+    
+public:
+    
+    bool m_dir;
+    float m_speed;
+    
+    L298(PinName pin1, PinName pin2, PinName pin3); //initializes the pins, direction and speed
+    
+    void SetDirection(bool dir);        //sets direction of robot, forward or backwards
+    void SetSpeed(float speed);         //sets speed of robot regardless of direction
+    
+};
+
+
+
+
+#endif
\ No newline at end of file

--- a/RobotControl.cpp	Thu Mar 14 09:28:30 2019 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,52 +0,0 @@
-#include "RobotControl_H.h"
-#include <mbed.h>
-
-
-RobotControl::RobotControl(PinName pin1, PinName pin2, PinName pin3):m_motorEnable(pin1),m_motorBw(pin2),m_motorFw(pin3){
-    /*class constructor : initializes the motors with 
-    forward enable and speed of 0.3 */
-    
-    //m_dir = true;
-    //m_speed = 0.2;
-    
-    m_motorBw.period_ms(1);
-    m_motorFw.period_ms(1);
-    
-    SetDirection(1);
-    SetSpeed(0.2);
-}
-    
-    
-void RobotControl::SetDirection(bool dir){
-    /*set direction of one of the sides depending on pwmSelect
-    direction : 1 go backwards  ,0 go forward*/    
-    
-    m_motorBw.write(0);
-    m_motorFw.write(0);
-    
-    wait(0.001);
-        
-    if(!dir){
-        m_motorEnable = false;
-        m_pwmPtr = &m_motorFw;
-    }else{
-        m_motorEnable = true;
-        m_pwmPtr = &m_motorBw;
-    }
-    
-    m_prevDir = dir;
-        
-}
-
-
-void RobotControl::SetSpeed(float speed){
-    /*set speed on the pwm which is point by m_pwmPtr (set by SetDirection)
-    speed : the speed given to the motor, ranges from 0 to 1*/
-    
-    if(speed<=0) m_pwmPtr->write(0);
-    else if(speed>=1.0)m_pwmPtr->write(1.0);
-    else m_pwmPtr->write(speed);   
-         
-}
-
-

--- a/main.cpp	Thu Mar 14 09:28:30 2019 +0000
+++ b/main.cpp	Thu Mar 14 14:37:20 2019 +0000
@@ -1,14 +1,14 @@
 
-#include <RobotControl_H.h>
+#include <L298_H.h>
 #include <mbed.h>
 
-Timer t; 
+ 
 Timer t1;      //Timer used to record the time duration
-Timer t2;
+
 DigitalOut trigpin(PTD4);
 DigitalIn echopin(PTE20);
-DigitalOut trigpin2();
-DigitalIn echopin2();
+DigitalOut trigpin2(PTD1);
+DigitalIn echopin2(PTC9);
 DigitalOut test(PTE30);
 DigitalOut led1(PTD2);
 DigitalOut led2(PTD3);  //two LED indicates if there's any obstacles nearby
@@ -17,24 +17,46 @@
 bool dirR;
 float speed;
 
+int getDis (DigitalIn echopin) {
+Timer t;
+int distance;
+float duration;
+while (!echopin);         // read the duration time
+    t.start();
+    while (echopin);
+    t.stop();
+    duration = t.read_us(); 
+    distance = (duration/2) / 29.1;  
+    t.reset();
+    printf("distance: %d\n",distance); //read the distance
+    test = 1;
+    wait_ms(100);
+    test=0;
+    return distance;
+}
+
+
 int main() {
-RobotControl controlLeft(PTA12,PTA4,PTA5);
-RobotControl controlRight(PTA13,PTD5,PTD0);
-dirR=0;
-dirL=0;
+L298 controlLeft(PTA12,PTA4,PTA5);
+L298 controlRight(PTA13,PTD5,PTD0);
+dirR=1;
+dirL=1;
 speed=0.2;
+int distance;
+int distance2;
+int totalT;
 controlLeft.SetDirection(dirL);
 controlRight.SetDirection(dirR);
 controlLeft.SetSpeed(speed);
 controlRight.SetSpeed(speed);
+test =1;
+led1=1;
+led2 =1;
 
   while (1) {
     t1.start();
-    int totalT;
-    float duration;
-    float duration2;
-    int distance = 0;
-    int distance2 = 0;
+    distance = 0;
+    distance2 = 0;
     test = 0;
     trigpin = 0; // low trig signal for 2us
     trigpin2 = 0;
@@ -44,7 +66,7 @@
     wait_us(10);
     trigpin = 0; // stay low trig level
     trigpin2 = 0;
-    while (!echopin);         // read the duration time
+   /* while (!echopin);         // read the duration time
     t.start();
     while (echopin);
     t.stop();
@@ -60,11 +82,10 @@
     t.reset ();
     t2.rest();
     printf("distance: %d\n",distance); //read the distance
-    printf("distance2: %d\n",distance2); //read the distance
-    test = 1;
-    wait_ms(100);
-    test=0;
-   
+    printf("distance2: %d\n",distance2); //read the distance */
+    
+    distance = getDis(echopin);
+    distance2 = getDis(echopin2);
         
 
     if (distance < 20|| distance2 <20) { // This is where the LED On/Off happens
@@ -79,7 +100,7 @@
           controlRight.SetSpeed(speed);
           dirR=1;
           dirL=0;
-          controlLeft.SetDirection(dirl);
+          controlLeft.SetDirection(dirL);
           controlRight.SetDirection(dirR);   //obstacle on the right, turn left
           }
       else {                 //obstacle on the left or in the middle, turn right
@@ -98,8 +119,8 @@
       speed = 0.2;
       controlLeft.SetSpeed(speed);
       controlRight.SetSpeed(speed);
-      dirR=0;
-      dirL=0;
+      dirR=1;
+      dirL=1;
       controlLeft.SetDirection(dirL);
       controlRight.SetDirection(dirR);
     }