Ren Buggy / Mbed 2 deprecated 3-LightSeekingRobot

A program that allows the RenBuggy to detect the direction of a light source and drive towards it.

Dependencies:   mbed

ServoDrive.cpp@0:575ce3f4b7ec, 2016-03-11 (annotated)

Committer:
RenBuggy
Date:
Fri Mar 11 10:39:05 2016 +0000
Revision:
0:575ce3f4b7ec
version 1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
RenBuggy 0:575ce3f4b7ec 1 /*********************************************************
RenBuggy 0:575ce3f4b7ec 2 *ServoDrive.cpp *
RenBuggy 0:575ce3f4b7ec 3 *Author: Elijah Orr *
RenBuggy 0:575ce3f4b7ec 4 * *
RenBuggy 0:575ce3f4b7ec 5 *A library of functions that can be used to control the *
RenBuggy 0:575ce3f4b7ec 6 *RenBuggy via a servo motor. *
RenBuggy 0:575ce3f4b7ec 7 *********************************************************/
RenBuggy 0:575ce3f4b7ec 8
RenBuggy 0:575ce3f4b7ec 9 #ifndef SERVODRIVE_C
RenBuggy 0:575ce3f4b7ec 10 #define SERVODRIVE_C
RenBuggy 0:575ce3f4b7ec 11
RenBuggy 0:575ce3f4b7ec 12 #include "mbed.h"
RenBuggy 0:575ce3f4b7ec 13 #include "ServoDrive.h"
RenBuggy 0:575ce3f4b7ec 14
RenBuggy 0:575ce3f4b7ec 15
RenBuggy 0:575ce3f4b7ec 16 /* A pin is configured as PwmOut to output the PWM signal that will
RenBuggy 0:575ce3f4b7ec 17 control the servo. Two pins are configured as DigitalOut to switch
RenBuggy 0:575ce3f4b7ec 18 the drive motors on/off. Information about classes used here can be
RenBuggy 0:575ce3f4b7ec 19 found in the mbed library. */
RenBuggy 0:575ce3f4b7ec 20 PwmOut servo(servoPin);
RenBuggy 0:575ce3f4b7ec 21 DigitalOut Lmotor(LeftMotorPin);
RenBuggy 0:575ce3f4b7ec 22 DigitalOut Rmotor(RightMotorPin);
RenBuggy 0:575ce3f4b7ec 23
RenBuggy 0:575ce3f4b7ec 24 /* functions to start and stop the drive motors simply set the DigitalOut
RenBuggy 0:575ce3f4b7ec 25 pins to 1 or 0 to switch the motors on/off */
RenBuggy 0:575ce3f4b7ec 26
RenBuggy 0:575ce3f4b7ec 27 /****************************************************************
RenBuggy 0:575ce3f4b7ec 28 * Function: go() *
RenBuggy 0:575ce3f4b7ec 29 * *
RenBuggy 0:575ce3f4b7ec 30 * Enables the two drive motors of the RenBuggy *
RenBuggy 0:575ce3f4b7ec 31 * *
RenBuggy 0:575ce3f4b7ec 32 * Inputs: none *
RenBuggy 0:575ce3f4b7ec 33 * *
RenBuggy 0:575ce3f4b7ec 34 * Returns: none *
RenBuggy 0:575ce3f4b7ec 35 ****************************************************************/
RenBuggy 0:575ce3f4b7ec 36 extern void go()
RenBuggy 0:575ce3f4b7ec 37 {
RenBuggy 0:575ce3f4b7ec 38 Lmotor = Rmotor = 1;
RenBuggy 0:575ce3f4b7ec 39 }
RenBuggy 0:575ce3f4b7ec 40
RenBuggy 0:575ce3f4b7ec 41 /****************************************************************
RenBuggy 0:575ce3f4b7ec 42 * Function: stop() *
RenBuggy 0:575ce3f4b7ec 43 * *
RenBuggy 0:575ce3f4b7ec 44 * Disables the two drive motors of the RenBuggy *
RenBuggy 0:575ce3f4b7ec 45 * *
RenBuggy 0:575ce3f4b7ec 46 * Inputs: none *
RenBuggy 0:575ce3f4b7ec 47 * *
RenBuggy 0:575ce3f4b7ec 48 * Returns: none *
RenBuggy 0:575ce3f4b7ec 49 ****************************************************************/
RenBuggy 0:575ce3f4b7ec 50 extern void stop()
RenBuggy 0:575ce3f4b7ec 51 {
RenBuggy 0:575ce3f4b7ec 52 Lmotor = Rmotor = 0;
RenBuggy 0:575ce3f4b7ec 53 }
RenBuggy 0:575ce3f4b7ec 54
RenBuggy 0:575ce3f4b7ec 55 /* a function is set up to configure the PWM output so that it will have the
RenBuggy 0:575ce3f4b7ec 56 correct properties to operate the servo. */
RenBuggy 0:575ce3f4b7ec 57
RenBuggy 0:575ce3f4b7ec 58 /****************************************************************
RenBuggy 0:575ce3f4b7ec 59 * Function: configurePWM() *
RenBuggy 0:575ce3f4b7ec 60 * *
RenBuggy 0:575ce3f4b7ec 61 * Configures a PWM signal for controlling the servo *
RenBuggy 0:575ce3f4b7ec 62 * *
RenBuggy 0:575ce3f4b7ec 63 * Inputs: Period is the period of the signal in microseconds *
RenBuggy 0:575ce3f4b7ec 64 * and Pulsewidth is the pulsewidth of the signal in microseconds*
RenBuggy 0:575ce3f4b7ec 65 * *
RenBuggy 0:575ce3f4b7ec 66 * Returns: none *
RenBuggy 0:575ce3f4b7ec 67 ****************************************************************/
RenBuggy 0:575ce3f4b7ec 68 extern void configurePWM(int Period, int Pulsewidth)
RenBuggy 0:575ce3f4b7ec 69 {
RenBuggy 0:575ce3f4b7ec 70 /* classes that set the properties of the PWM signal are passed the variables
RenBuggy 0:575ce3f4b7ec 71 Period and Pulsewidth to set the frequency and duty cycle of the signal. */
RenBuggy 0:575ce3f4b7ec 72 servo.period_us(Period);
RenBuggy 0:575ce3f4b7ec 73 servo.pulsewidth_us(Pulsewidth);
RenBuggy 0:575ce3f4b7ec 74 }
RenBuggy 0:575ce3f4b7ec 75
RenBuggy 0:575ce3f4b7ec 76 /* to make the main function easy to write, setDirection will allow a value in
RenBuggy 0:575ce3f4b7ec 77 degrees to be passed to it, and then do any necessary conversions. angle must be
RenBuggy 0:575ce3f4b7ec 78 a float as the conversion involves non integer values. */
RenBuggy 0:575ce3f4b7ec 79
RenBuggy 0:575ce3f4b7ec 80 /****************************************************************
RenBuggy 0:575ce3f4b7ec 81 * Function: setDirection() *
RenBuggy 0:575ce3f4b7ec 82 * *
RenBuggy 0:575ce3f4b7ec 83 * Sets the direction in which the steering servo is pointing *
RenBuggy 0:575ce3f4b7ec 84 * *
RenBuggy 0:575ce3f4b7ec 85 * Inputs: A floating point value representing the angle of the *
RenBuggy 0:575ce3f4b7ec 86 * servo in degrees *
RenBuggy 0:575ce3f4b7ec 87 * *
RenBuggy 0:575ce3f4b7ec 88 * Returns: The pulsewith of the signal in microseconds *
RenBuggy 0:575ce3f4b7ec 89 ****************************************************************/
RenBuggy 0:575ce3f4b7ec 90 extern int setDirection(float angle)
RenBuggy 0:575ce3f4b7ec 91 {
RenBuggy 0:575ce3f4b7ec 92 /* it is possible to pass numbers outside the operational range of the servo
RenBuggy 0:575ce3f4b7ec 93 to setDirection, to resolve this there are two checks here. If angle is outside
RenBuggy 0:575ce3f4b7ec 94 the boundaries it will be set to either the maximum or minimum value. */
RenBuggy 0:575ce3f4b7ec 95 if(angle < 0)
RenBuggy 0:575ce3f4b7ec 96 {
RenBuggy 0:575ce3f4b7ec 97 angle = 0;
RenBuggy 0:575ce3f4b7ec 98 }
RenBuggy 0:575ce3f4b7ec 99 if(angle > 90)
RenBuggy 0:575ce3f4b7ec 100 {
RenBuggy 0:575ce3f4b7ec 101 angle = 90;
RenBuggy 0:575ce3f4b7ec 102 }
RenBuggy 0:575ce3f4b7ec 103 /* to properly control the servo, the pulsewidth must be between 1000 and 2000
RenBuggy 0:575ce3f4b7ec 104 micro seconds, so a simple conversion is used to translate the angle into a value
RenBuggy 0:575ce3f4b7ec 105 within these bounds. The new value is stored in the variable pulse. */
RenBuggy 0:575ce3f4b7ec 106 int pulse = 1000 + ((angle/90)*1000);
RenBuggy 0:575ce3f4b7ec 107 servo.pulsewidth_us(pulse);
RenBuggy 0:575ce3f4b7ec 108
RenBuggy 0:575ce3f4b7ec 109 return pulse;
RenBuggy 0:575ce3f4b7ec 110 }
RenBuggy 0:575ce3f4b7ec 111
RenBuggy 0:575ce3f4b7ec 112 #endif //SERVODRIVE_C