Diff: TimedMovement.cpp

Revision:

0:9870f526ddd1

Child:

1:dd956fbd7e95

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TimedMovement.cpp	Fri Mar 11 10:36:38 2016 +0000
@@ -0,0 +1,98 @@
+/*********************************************************
+*TimedMovement.cpp                                       *
+*Author: Elijah Orr                                      *
+*                                                        *  
+*A library of functions that can be used to control the  * 
+*RenBuggy.                                               *
+*********************************************************/
+
+#ifndef TIMEDMOVEMENT_C
+#define TIMEDMOVEMENT_C
+
+/* necessary includes */
+#include "mbed.h"
+#include "TimedMovement.h"
+
+/* PwmOut is a class included in the mbed.h library that allows
+a pin to be configured as a PWM output. This is used to control
+the speed of the motors. Lmotor and Rmotor are chosen names for
+the pins, LeftMotorPin and RightMotorPin (see TimedMovement.h)
+specify the physical pins to be used. */
+PwmOut Lmotor(LeftMotorPin);
+PwmOut Rmotor(RightMotorPin);
+
+/* Function definitions contain the code that will execute when 
+the function is called. These must have the same return type
+and parameters as the function declarations. */
+
+/****************************************************************
+* Function: forward()                                           *
+*                                                               *
+* Moves the RenBuggy directly forwards                          *
+*                                                               *
+* Inputs: A floating point value representing the length of     *
+* time the buggy will move for                                  *
+*                                                               *
+* Returns: none                                                 *
+****************************************************************/
+extern void forward(float time)
+{
+    /* Lmotor and Rmotor are set to 1.0 (i.e. the motors will 
+    operate at full speed). As both motors will move at the 
+    same speed, the RenBuggy will go directly forward. */
+    Lmotor = Rmotor = 1.0;
+    /* the program will wait here for the length of time passed 
+    to the function before continuing. wait() is a function 
+    provided from mbed.h; a loop could be used instead. */
+    wait(time);
+}
+
+/****************************************************************
+* Function: left()                                              *
+*                                                               *
+* Turns the RenBuggy to the left                                *
+*                                                               *
+* Inputs: A floating point value representing the length of     *
+* time the buggy will turn for                                  *
+*                                                               *
+* Returns: none                                                 *
+****************************************************************/
+extern void left(float time)
+{
+    Rmotor = 1.0;
+    Lmotor = 0.2;
+    wait(time);
+}
+
+/****************************************************************
+* Function: right()                                             *
+*                                                               *
+* Turns the RenBuggy to the right                               *
+*                                                               *
+* Inputs: A floating point value representing the length of     *
+* time the buggy will turn for                                  *
+*                                                               *
+* Returns: none                                                 *
+****************************************************************/
+extern void right(float time)
+{
+    Lmotor = 1.0;
+    Rmotor = 0.2;
+    wait(time);
+}
+
+/****************************************************************
+* Function: stop()                                              *
+*                                                               *
+* Brings the RenBuggy to a complete stop                        *
+*                                                               *
+* Inputs: none                                                  *
+*                                                               *
+* Returns: none                                                 *
+****************************************************************/
+extern void stop()
+{
+    Lmotor = Rmotor = 0;
+}
+
+#endif // TIMEDMOVEMENT_C
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