Ronja Naderi / EigeneFunktionen

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Dependencies:   HCSR

Fork of Bertl by Franz Pucher

ur_Bertl.h@1:fafbac0ba96d, 2015-03-19 (annotated)

Committer:
bulmecisco
Date:
Thu Mar 19 19:12:33 2015 +0000
Revision:
1:fafbac0ba96d
Parent:
0:66e9a0afcbd6
Child:
4:76acfddc26fb
FrontIsClear() with ultrasonic sensor added

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bulmecisco 0:66e9a0afcbd6 1 /***********************************
bulmecisco 0:66e9a0afcbd6 2 name: ur_Bertl.h Version: 1.0
bulmecisco 0:66e9a0afcbd6 3 author: PE HTL BULME
bulmecisco 0:66e9a0afcbd6 4 email: pe@bulme.at
bulmecisco 0:66e9a0afcbd6 5 description:
bulmecisco 0:66e9a0afcbd6 6 Definition portion of the class ur_Bertl The Robot
bulmecisco 0:66e9a0afcbd6 7
bulmecisco 0:66e9a0afcbd6 8
bulmecisco 0:66e9a0afcbd6 9 ***********************************/
bulmecisco 0:66e9a0afcbd6 10 #include "mbed.h"
bulmecisco 0:66e9a0afcbd6 11
bulmecisco 0:66e9a0afcbd6 12 #ifndef UR_BERTL_H
bulmecisco 0:66e9a0afcbd6 13 #define UR_BERTL_H
bulmecisco 0:66e9a0afcbd6 14
bulmecisco 0:66e9a0afcbd6 15 #define LEFTSENSOR P1_12
bulmecisco 0:66e9a0afcbd6 16 #define RIGHTSENSOR P1_13
bulmecisco 0:66e9a0afcbd6 17 /********************************************//**
bulmecisco 0:66e9a0afcbd6 18 name: ur_Bertl.h
bulmecisco 0:66e9a0afcbd6 19 version: 1.0
bulmecisco 0:66e9a0afcbd6 20 author: PE HTL BULME.
bulmecisco 0:66e9a0afcbd6 21 email: pe@bulme.at
bulmecisco 0:66e9a0afcbd6 22 description:
bulmecisco 0:66e9a0afcbd6 23 Definition and documentation portion of the class ur_Bertl The Robot.
bulmecisco 0:66e9a0afcbd6 24
bulmecisco 0:66e9a0afcbd6 25 ***********************************************/
bulmecisco 0:66e9a0afcbd6 26 /**
bulmecisco 0:66e9a0afcbd6 27 @code
bulmecisco 0:66e9a0afcbd6 28 //
bulmecisco 0:66e9a0afcbd6 29 @endcode
bulmecisco 0:66e9a0afcbd6 30
bulmecisco 0:66e9a0afcbd6 31 Example motor sensor test:
bulmecisco 0:66e9a0afcbd6 32 @code
bulmecisco 0:66e9a0afcbd6 33 #include "mbed.h"
bulmecisco 0:66e9a0afcbd6 34 #include "ur_Bertl.h"
bulmecisco 0:66e9a0afcbd6 35 #include "const.h"
bulmecisco 0:66e9a0afcbd6 36
bulmecisco 0:66e9a0afcbd6 37 int main()
bulmecisco 0:66e9a0afcbd6 38 {
bulmecisco 0:66e9a0afcbd6 39 ur_Bertl karel(LEFTSENSOR); // RIGHTSENSOR
bulmecisco 0:66e9a0afcbd6 40
bulmecisco 0:66e9a0afcbd6 41 while(true) {
bulmecisco 0:66e9a0afcbd6 42 karel.NibbleLeds(karel.Read());
bulmecisco 0:66e9a0afcbd6 43 }
bulmecisco 0:66e9a0afcbd6 44 }
bulmecisco 0:66e9a0afcbd6 45 @endcode
bulmecisco 0:66e9a0afcbd6 46
bulmecisco 0:66e9a0afcbd6 47 Example moving the robot around:
bulmecisco 0:66e9a0afcbd6 48 @code
bulmecisco 0:66e9a0afcbd6 49 #include "mbed.h"
bulmecisco 0:66e9a0afcbd6 50 #include "ur_Bertl.h"
bulmecisco 0:66e9a0afcbd6 51 #include "const.h"
bulmecisco 0:66e9a0afcbd6 52
bulmecisco 0:66e9a0afcbd6 53 int main()
bulmecisco 0:66e9a0afcbd6 54 {
bulmecisco 0:66e9a0afcbd6 55 ur_Bertl karel;
bulmecisco 0:66e9a0afcbd6 56
bulmecisco 0:66e9a0afcbd6 57 while(karel.WaitUntilButtonPressed()){}
bulmecisco 0:66e9a0afcbd6 58 //karel.Move();
bulmecisco 0:66e9a0afcbd6 59 karel.TurnLeft();
bulmecisco 0:66e9a0afcbd6 60 karel.ShutOff();
bulmecisco 0:66e9a0afcbd6 61 }
bulmecisco 0:66e9a0afcbd6 62 @endcode
bulmecisco 0:66e9a0afcbd6 63
bulmecisco 0:66e9a0afcbd6 64 Example LEDs:
bulmecisco 0:66e9a0afcbd6 65 @code
bulmecisco 0:66e9a0afcbd6 66 #include "mbed.h"
bulmecisco 0:66e9a0afcbd6 67 #include "ur_Bertl.h"
bulmecisco 0:66e9a0afcbd6 68 #include "const.h"
bulmecisco 0:66e9a0afcbd6 69
bulmecisco 0:66e9a0afcbd6 70 int main()
bulmecisco 0:66e9a0afcbd6 71 {
bulmecisco 0:66e9a0afcbd6 72 ur_Bertl karel;
bulmecisco 0:66e9a0afcbd6 73
bulmecisco 0:66e9a0afcbd6 74 while(karel.WaitUntilButtonPressed()){}
bulmecisco 0:66e9a0afcbd6 75
bulmecisco 0:66e9a0afcbd6 76 karel.TurnLedOn(LED_FL1 | LED_FR1); // see const.h
bulmecisco 0:66e9a0afcbd6 77 wait(1);
bulmecisco 0:66e9a0afcbd6 78 karel.TurnLedOn(0xFF); // or use hex
bulmecisco 0:66e9a0afcbd6 79 wait(1);
bulmecisco 0:66e9a0afcbd6 80 karel.RGBLed(1,0,0); // red
bulmecisco 0:66e9a0afcbd6 81 wait(1);
bulmecisco 0:66e9a0afcbd6 82 karel.RGBLed(0,1,0); // green
bulmecisco 0:66e9a0afcbd6 83 wait(1);
bulmecisco 0:66e9a0afcbd6 84 karel.RGBLed(0,0,1); // blue
bulmecisco 0:66e9a0afcbd6 85 karel.BlueLedsON();
bulmecisco 0:66e9a0afcbd6 86 karel.NibbleLeds(karel.Read());
bulmecisco 0:66e9a0afcbd6 87 wait(1);
bulmecisco 0:66e9a0afcbd6 88 karel.BlueLedsOFF();
bulmecisco 0:66e9a0afcbd6 89 karel.TurnLedOff(0xFF);
bulmecisco 0:66e9a0afcbd6 90 karel.ShutOff();
bulmecisco 0:66e9a0afcbd6 91 }
bulmecisco 0:66e9a0afcbd6 92 @endcode
bulmecisco 0:66e9a0afcbd6 93 */
bulmecisco 0:66e9a0afcbd6 94 class ur_Bertl
bulmecisco 0:66e9a0afcbd6 95 {
bulmecisco 0:66e9a0afcbd6 96 protected:
bulmecisco 0:66e9a0afcbd6 97 int beepersInBag; /**< how many beepers does the robot have in his bag*/
bulmecisco 0:66e9a0afcbd6 98 char cmd[3]; /**< I2C command */
bulmecisco 0:66e9a0afcbd6 99 int16_t btns; /**< which button is pressed */
bulmecisco 0:66e9a0afcbd6 100 InterruptIn _interrupt; /**< interrupted used*/
bulmecisco 0:66e9a0afcbd6 101 volatile int _count; /**< values of motor sensor*/
bulmecisco 0:66e9a0afcbd6 102
bulmecisco 0:66e9a0afcbd6 103 /**
bulmecisco 0:66e9a0afcbd6 104 protected methodes for internal purposes only
bulmecisco 0:66e9a0afcbd6 105 */
bulmecisco 0:66e9a0afcbd6 106 void increment(); /**< ISR to increment sensor values of motor */
bulmecisco 0:66e9a0afcbd6 107 bool backIsClear(); /**< don't now for what */
bulmecisco 0:66e9a0afcbd6 108 bool frontButtonPressed();/**< TRUE if a a button on the front of Robot is pressed else FALSE */
bulmecisco 0:66e9a0afcbd6 109 void error(); /**< Error: stops the robot and all LEDs are blinking*/
bulmecisco 0:66e9a0afcbd6 110
bulmecisco 0:66e9a0afcbd6 111 public:
bulmecisco 0:66e9a0afcbd6 112 ur_Bertl(); /**< default constructor; you have to define constants in config.h such as SPEED, DISTANCE or ANGLE*/
bulmecisco 0:66e9a0afcbd6 113 ur_Bertl(PinName pin); /**< parameterized constructor; on what pin should the interrupt work; SPEED, DISTANCE or ANGLE have to bee defined in config.h */
bulmecisco 0:66e9a0afcbd6 114
bulmecisco 0:66e9a0afcbd6 115 void Move(); /**< Robot moves one turn as much as the constant DISTANCE; if one of the buttons fire --> Error()*/
bulmecisco 0:66e9a0afcbd6 116 void TurnLeft(); /**< Robot turns left as much as the constant ANGLE*/
bulmecisco 0:66e9a0afcbd6 117 void PutBeeper(); /**< if Robot has any Beepers in his bag he can put one or more Beeper; if not --> Error(()*/
bulmecisco 0:66e9a0afcbd6 118 void PickBeeper(); /**< if Robot stands on a black item he can pick one or more Beeper (max. 16 --> Error()); if not --> Error()*/
bulmecisco 1:fafbac0ba96d 119 bool FrontIsClear(); /**< returns a boolean value true if front is free; if not false */
bulmecisco 0:66e9a0afcbd6 120 void NibbleLeds(int value); /**< methode for the 4 (half byte) yellow LEDs at the back left side */
bulmecisco 0:66e9a0afcbd6 121 void TurnLedOn(int16_t led);/**< turns the specified one or more LEDs ON; description and name in const.h, such as LED_FL1 = 0x01; front LED white */
bulmecisco 0:66e9a0afcbd6 122 void TurnLedOff(int16_t led);/**< turns the specified one or more LEDs OFF; description and name in const.h, such as LED_FL1 = 0x01; front LED white */
bulmecisco 0:66e9a0afcbd6 123 bool WaitUntilButtonPressed(); /**< wait until any button is pressed at the robot */
bulmecisco 0:66e9a0afcbd6 124 void RGBLed(bool red, bool green, bool blue); /**<RGB Led with red, green and blue component of the Color */
bulmecisco 0:66e9a0afcbd6 125 void BlueLedsOFF(); /**< OFF all blue LEDs which are on the same Port 1_28 */
bulmecisco 0:66e9a0afcbd6 126 void BlueLedsON(); /**< ON all blue LEDs which are on the same Port 1_28 */
bulmecisco 0:66e9a0afcbd6 127 void ShutOff(); /**< turnes the robot off */
bulmecisco 0:66e9a0afcbd6 128 int Read();
bulmecisco 0:66e9a0afcbd6 129 };
bulmecisco 0:66e9a0afcbd6 130 #endif