Immanuel Rechar
Bau
Fork of
Bertl
by 
Franz Pucher
Diff: ur_Bertl.cpp
- Revision:
- 4:76acfddc26fb
- Parent:
- 3:01b183fe8b41
- Child:
- 5:6b667e2cb800
--- a/ur_Bertl.cpp Thu Mar 26 13:06:00 2015 +0000
+++ b/ur_Bertl.cpp Tue Apr 07 12:30:39 2015 +0000
@@ -1,11 +1,11 @@
/***********************************
-name: ur_Bertl.cpp Version: 1.1
+name: ur_Bertl.cpp Version: 2.0
author: PE HTL BULME
email: pe@bulme.at
+WIKI: https://developer.mbed.org/teams/BERTL_CHEL_18/code/ur_Bertl/
description:
- Implementation portion of class ur_Bertl The Robot
- Blue LED and RGB LED test added
-
+ Implementation portion of class ur_Bertl The Robot
+ boolean commands added for if/else, while, ...
***********************************/
#include "mbed.h"
#include "config.h"
@@ -14,7 +14,7 @@
// Constructor
ur_Bertl::ur_Bertl() : _interrupt(P1_12) // left sensor P1_13
{
- i2c.frequency(40000); // I2C Frequenz 40kHz
+ i2c.frequency(40000); // I2C init
char init1[2] = {0x6, 0x00};
char init2[2] = {0x7, 0xff};
i2c.write(0x40, init1, 2);
@@ -27,7 +27,7 @@
ur_Bertl::ur_Bertl(PinName pin) : _interrupt(pin) // create the InterruptIn on the pin specified to Counter
{
- i2c.frequency(40000); // I2C Frequenz 40kHz
+ i2c.frequency(40000); // I2C init
char init1[2] = {0x6, 0x00};
char init2[2] = {0x7, 0xff};
i2c.write(0x40, init1, 2);
@@ -38,7 +38,6 @@
beepersInBag = 0;
}
-
// Pulblic methodes
void ur_Bertl::Move()
{
@@ -80,6 +79,8 @@
beepersInBag++;
else
error();
+ if(beepersInBag > 16)
+ error();
}
void ur_Bertl::TurnLeft()
@@ -105,36 +106,13 @@
wait_ms(250); // only to step the robot
}
-bool ur_Bertl::WaitUntilButtonPressed()
-{
- char cmd[3];
- int16_t btns;
- bool wert;
-
- RGB_blue=RGB_red=RGB_green=0;
- cmd[0] = 0x06;
- cmd[1] = 0x00;
- i2c.write(addr, cmd, 2);
-
- cmd[0]=0x01;
- i2c.write(addr, cmd, 1);
- i2c.read(addr|1, cmd, 1);
- btns = cmd[0];
- if( btns & (0xFF))
- wert = false;
- else
- wert = true;
- DEBUG_PRINT("\right\nWERT: %d \right\n", wert);
- return wert;
-}
-
void ur_Bertl::ShutOff()
{
MotorR_FORWARD = MotorL_FORWARD = 0; // motor OFF
MotorR_EN=MotorL_EN=0; // motor disable
}
-// LEDs methodes
+// Public LEDs methodes
void ur_Bertl::BlueLedsON()
{
@@ -191,61 +169,6 @@
NibbleLEDs = value%16;
}
-//-----------------INTERNAL USE ONLY ----------------------------
-void ur_Bertl::error()
-{
- int wait = 500;
- MotorR_FORWARD = MotorL_FORWARD = 0; // both motor off
- MotorR_REVERSE = MotorL_REVERSE = 0; // both motor off
- MotorR_EN=MotorL_EN=0;
- while(1) {
- TurnLedOff(0xFF);
- LED_D10 = LED_D11 = LED_D12 = LED_D13 = 0;
- LED_blue=1;
- RGB_blue=RGB_green=RGB_red=1;
- wait_ms(wait);
- TurnLedOn(0xFF);
- LED_D10 = LED_D11 = LED_D12 = LED_D13 = 1;
- LED_blue=0;
- RGB_blue=RGB_green=1;RGB_red=0;
- wait_ms(wait);
- }
-}
-
-bool ur_Bertl::frontButtonPressed()
-{
- char cmd[3]; // array for I2C
- int16_t btns;
- bool wert;
-
- cmd[0] = 0x06;
- cmd[1] = 0x00;
- i2c.write(addr, cmd, 2);
-
- cmd[0]=0x01;
- i2c.write(addr, cmd, 1);
- i2c.read(addr|1, cmd, 1);
- btns = cmd[0];
- if( btns & (BTN_FL|BTN_FM|BTN_FR|BTN_FRR|BTN_FLL))
- wert = true;
- else
- wert = false;
- DEBUG_PRINT("WERT: %d", wert);
- return wert;
-}
-
-// ISR
-
-void ur_Bertl::increment()
-{
- _count++;
-}
-
-int ur_Bertl::Read()
-{
- return _count;
-}
-
//----------------------------------------------------------------------
bool ur_Bertl::FrontIsClear()
@@ -282,10 +205,32 @@
#endif
}
-/*
+bool ur_Bertl::WaitUntilButtonPressed()
+{
+ char cmd[3];
+ int16_t btns;
+ bool wert;
+
+ RGB_blue=RGB_red=RGB_green=0;
+ cmd[0] = 0x06;
+ cmd[1] = 0x00;
+ i2c.write(addr, cmd, 2);
+
+ cmd[0]=0x01;
+ i2c.write(addr, cmd, 1);
+ i2c.read(addr|1, cmd, 1);
+ btns = cmd[0];
+ if( btns & (0xFF))
+ wert = false;
+ else
+ wert = true;
+ DEBUG_PRINT("\right\nWERT: %d \right\n", wert);
+ return wert;
+}
+
bool ur_Bertl::NextToABeeper()
{
- if (BottomIsBlack())
+ if (bottomIsBlack())
return true;
else
return false;
@@ -299,6 +244,32 @@
return 0;
}
+void ur_Bertl::MoveBackwards()
+{
+ int count = _count;
+ //wait_ms(250); // waite until Bertl stops
+ MotorR_EN=MotorL_EN=1; // both motor ENABLE
+ MotorR_REVERSE = MotorL_REVERSE = 1; // both motor backwards ON
+ while(_count < count+DISTANCE) {
+ if(!backIsClear())
+ break;
+ DEBUG_PRINT("count: %d _count: %d", count, _count);
+ }
+ MotorR_REVERSE = MotorL_REVERSE = 0; // both motor off
+ MotorR_EN=MotorL_EN=0;
+ wait_ms(250);
+}
+
+// Protected methodes
+
+int ur_Bertl::bottomIsBlack()
+{
+ int detect;
+
+ detect = linesensor;
+ return detect;
+}
+
bool ur_Bertl::backIsClear()
{
char cmd[3]; // array for I2C
@@ -321,27 +292,58 @@
return wert;
}
-int ur_Bertl::BottomIsBlack()
+bool ur_Bertl::frontButtonPressed()
{
- int detect;
-
- detect = linesensor;
- return detect;
+ char cmd[3]; // array for I2C
+ int16_t btns;
+ bool wert;
+
+ cmd[0] = 0x06;
+ cmd[1] = 0x00;
+ i2c.write(addr, cmd, 2);
+
+ cmd[0]=0x01;
+ i2c.write(addr, cmd, 1);
+ i2c.read(addr|1, cmd, 1);
+ btns = cmd[0];
+ if( btns & (BTN_FL|BTN_FM|BTN_FR|BTN_FRR|BTN_FLL))
+ wert = true;
+ else
+ wert = false;
+ DEBUG_PRINT("WERT: %d", wert);
+ return wert;
}
-void ur_Bertl::MoveBackwards()
+//-----------------INTERNAL USE ONLY ----------------------------
+void ur_Bertl::error()
{
- int count = _count;
- //wait_ms(250); // waite until Bertl stops
- MotorR_EN=MotorL_EN=1; // both motor ENABLE
- MotorR_REVERSE = MotorL_REVERSE = 1; // both motor backwards ON
- while(_count < count+DISTANCE) {
- if(!backIsClear())
- break;
- DEBUG_PRINT("count: %d _count: %d", count, _count);
- }
+ int wait = 500;
+ MotorR_FORWARD = MotorL_FORWARD = 0; // both motor off
MotorR_REVERSE = MotorL_REVERSE = 0; // both motor off
MotorR_EN=MotorL_EN=0;
- wait_ms(250);
+ while(1) {
+ TurnLedOff(0xFF);
+ LED_D10 = LED_D11 = LED_D12 = LED_D13 = 0;
+ LED_blue=1;
+ RGB_blue=RGB_green=RGB_red=1;
+ wait_ms(wait);
+ TurnLedOn(0xFF);
+ LED_D10 = LED_D11 = LED_D12 = LED_D13 = 1;
+ LED_blue=0;
+ RGB_blue=RGB_green=1;RGB_red=0;
+ wait_ms(wait);
+ }
}
-*/
+
+// ISR
+
+void ur_Bertl::increment()
+{
+ _count++;
+}
+
+int ur_Bertl::Read()
+{
+ return _count;
+}
+