Sandro Pölzl / Bertl_move

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Dependencies:   HCSR

Fork of Bertl by Franz Pucher

ur_Bertl.h@12:cedc088eaf05, 2015-04-26 (annotated)

Committer:
bulmecisco
Date:
Sun Apr 26 20:04:47 2015 +0000
Revision:
12:cedc088eaf05
Parent:
7:e7f74f072564
Child:
13:3ce84646fd74
Class Bertl with additional Methodes added

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bulmecisco 0:66e9a0afcbd6 1 /***********************************
bulmecisco 12:cedc088eaf05 2 name: ur_Bertl.h Version: 2.2
bulmecisco 0:66e9a0afcbd6 3 author: PE HTL BULME
bulmecisco 0:66e9a0afcbd6 4 email: pe@bulme.at
bulmecisco 4:76acfddc26fb 5 WIKI: https://developer.mbed.org/teams/BERTL_CHEL_18/code/ur_Bertl/
bulmecisco 0:66e9a0afcbd6 6 description:
bulmecisco 4:76acfddc26fb 7 Definition portion of the class ur_Bertl The Robot
bulmecisco 12:cedc088eaf05 8 Step wise turns on left and rigth
bulmecisco 7:e7f74f072564 9 int ReturnButtonPressed() added which returns the int value of button pressed
bulmecisco 0:66e9a0afcbd6 10 ***********************************/
bulmecisco 0:66e9a0afcbd6 11 #include "mbed.h"
bulmecisco 12:cedc088eaf05 12 #include "const.h"
bulmecisco 0:66e9a0afcbd6 13
bulmecisco 0:66e9a0afcbd6 14 #ifndef UR_BERTL_H
bulmecisco 0:66e9a0afcbd6 15 #define UR_BERTL_H
bulmecisco 0:66e9a0afcbd6 16
bulmecisco 0:66e9a0afcbd6 17 #define LEFTSENSOR P1_12
bulmecisco 0:66e9a0afcbd6 18 #define RIGHTSENSOR P1_13
bulmecisco 0:66e9a0afcbd6 19 /********************************************//**
bulmecisco 4:76acfddc26fb 20 name: ur_Bertl.h \n
bulmecisco 12:cedc088eaf05 21 version: 2.2 \n
bulmecisco 4:76acfddc26fb 22 author:PE HTL BULME \n
bulmecisco 4:76acfddc26fb 23 email: pe@bulme.at \n
bulmecisco 4:76acfddc26fb 24 WIKI: https://developer.mbed.org/teams/BERTL_CHEL_18/code/ur_Bertl/wiki/Homepage \n
bulmecisco 4:76acfddc26fb 25 description:
bulmecisco 0:66e9a0afcbd6 26 Definition and documentation portion of the class ur_Bertl The Robot.
bulmecisco 0:66e9a0afcbd6 27
bulmecisco 0:66e9a0afcbd6 28 ***********************************************/
bulmecisco 0:66e9a0afcbd6 29 /**
bulmecisco 0:66e9a0afcbd6 30 @code
bulmecisco 0:66e9a0afcbd6 31 //
bulmecisco 0:66e9a0afcbd6 32 @endcode
bulmecisco 0:66e9a0afcbd6 33
bulmecisco 0:66e9a0afcbd6 34 Example motor sensor test:
bulmecisco 0:66e9a0afcbd6 35 @code
bulmecisco 0:66e9a0afcbd6 36 #include "mbed.h"
bulmecisco 0:66e9a0afcbd6 37 #include "ur_Bertl.h"
bulmecisco 0:66e9a0afcbd6 38 #include "const.h"
bulmecisco 0:66e9a0afcbd6 39
bulmecisco 0:66e9a0afcbd6 40 int main()
bulmecisco 0:66e9a0afcbd6 41 {
bulmecisco 0:66e9a0afcbd6 42 ur_Bertl karel(LEFTSENSOR); // RIGHTSENSOR
bulmecisco 0:66e9a0afcbd6 43
bulmecisco 0:66e9a0afcbd6 44 while(true) {
bulmecisco 0:66e9a0afcbd6 45 karel.NibbleLeds(karel.Read());
bulmecisco 0:66e9a0afcbd6 46 }
bulmecisco 0:66e9a0afcbd6 47 }
bulmecisco 0:66e9a0afcbd6 48 @endcode
bulmecisco 0:66e9a0afcbd6 49
bulmecisco 0:66e9a0afcbd6 50 Example moving the robot around:
bulmecisco 0:66e9a0afcbd6 51 @code
bulmecisco 0:66e9a0afcbd6 52 #include "mbed.h"
bulmecisco 0:66e9a0afcbd6 53 #include "ur_Bertl.h"
bulmecisco 0:66e9a0afcbd6 54 #include "const.h"
bulmecisco 0:66e9a0afcbd6 55
bulmecisco 0:66e9a0afcbd6 56 int main()
bulmecisco 0:66e9a0afcbd6 57 {
bulmecisco 0:66e9a0afcbd6 58 ur_Bertl karel;
bulmecisco 0:66e9a0afcbd6 59
bulmecisco 0:66e9a0afcbd6 60 while(karel.WaitUntilButtonPressed()){}
bulmecisco 0:66e9a0afcbd6 61 //karel.Move();
bulmecisco 0:66e9a0afcbd6 62 karel.TurnLeft();
bulmecisco 0:66e9a0afcbd6 63 karel.ShutOff();
bulmecisco 0:66e9a0afcbd6 64 }
bulmecisco 0:66e9a0afcbd6 65 @endcode
bulmecisco 0:66e9a0afcbd6 66
bulmecisco 0:66e9a0afcbd6 67 Example LEDs:
bulmecisco 0:66e9a0afcbd6 68 @code
bulmecisco 0:66e9a0afcbd6 69 #include "mbed.h"
bulmecisco 0:66e9a0afcbd6 70 #include "ur_Bertl.h"
bulmecisco 0:66e9a0afcbd6 71 #include "const.h"
bulmecisco 0:66e9a0afcbd6 72
bulmecisco 0:66e9a0afcbd6 73 int main()
bulmecisco 0:66e9a0afcbd6 74 {
bulmecisco 0:66e9a0afcbd6 75 ur_Bertl karel;
bulmecisco 0:66e9a0afcbd6 76
bulmecisco 0:66e9a0afcbd6 77 while(karel.WaitUntilButtonPressed()){}
bulmecisco 0:66e9a0afcbd6 78
bulmecisco 0:66e9a0afcbd6 79 karel.TurnLedOn(LED_FL1 | LED_FR1); // see const.h
bulmecisco 0:66e9a0afcbd6 80 wait(1);
bulmecisco 0:66e9a0afcbd6 81 karel.TurnLedOn(0xFF); // or use hex
bulmecisco 0:66e9a0afcbd6 82 wait(1);
bulmecisco 0:66e9a0afcbd6 83 karel.RGBLed(1,0,0); // red
bulmecisco 0:66e9a0afcbd6 84 wait(1);
bulmecisco 0:66e9a0afcbd6 85 karel.RGBLed(0,1,0); // green
bulmecisco 0:66e9a0afcbd6 86 wait(1);
bulmecisco 0:66e9a0afcbd6 87 karel.RGBLed(0,0,1); // blue
bulmecisco 0:66e9a0afcbd6 88 karel.BlueLedsON();
bulmecisco 0:66e9a0afcbd6 89 karel.NibbleLeds(karel.Read());
bulmecisco 0:66e9a0afcbd6 90 wait(1);
bulmecisco 0:66e9a0afcbd6 91 karel.BlueLedsOFF();
bulmecisco 0:66e9a0afcbd6 92 karel.TurnLedOff(0xFF);
bulmecisco 0:66e9a0afcbd6 93 karel.ShutOff();
bulmecisco 0:66e9a0afcbd6 94 }
bulmecisco 0:66e9a0afcbd6 95 @endcode
bulmecisco 4:76acfddc26fb 96 Example IF/ELSE Commands (update ur_Bertl 2.0 from https://developer.mbed.org/teams/BERTL_CHEL_18/code/ur_Bertl/
bulmecisco 4:76acfddc26fb 97 @code
bulmecisco 12:cedc088eaf05 98 /*Sorry, but there are Javascript problems with this code
bulmecisco 4:76acfddc26fb 99
bulmecisco 4:76acfddc26fb 100 int main()
bulmecisco 4:76acfddc26fb 101 {
bulmecisco 4:76acfddc26fb 102 ur_Bertl karel;
bulmecisco 4:76acfddc26fb 103
bulmecisco 4:76acfddc26fb 104 while( karel.WaitUntilButtonPressed() ) {}
bulmecisco 4:76acfddc26fb 105 if( karel.NextToABeeper()) {
bulmecisco 4:76acfddc26fb 106 karel.PickBeeper();
bulmecisco 4:76acfddc26fb 107 karel.NibbleLeds(karel.AnyBeeperInBag()); //show number of beepers in bag on 4 yellow Leds
bulmecisco 4:76acfddc26fb 108 }
bulmecisco 4:76acfddc26fb 109 wait(1);
bulmecisco 4:76acfddc26fb 110 if( karel.AnyBeeperInBag() ) {
bulmecisco 4:76acfddc26fb 111 karel.PutBeeper();
bulmecisco 4:76acfddc26fb 112 karel.NibbleLeds(karel.AnyBeeperInBag());
bulmecisco 4:76acfddc26fb 113 }
bulmecisco 4:76acfddc26fb 114 wait(1);
bulmecisco 4:76acfddc26fb 115 if( karel.FrontIsClear() )
bulmecisco 4:76acfddc26fb 116 karel.Move();
bulmecisco 4:76acfddc26fb 117 else
bulmecisco 4:76acfddc26fb 118 karel.TurnLeft();
bulmecisco 4:76acfddc26fb 119
bulmecisco 4:76acfddc26fb 120 karel.ShutOff();
bulmecisco 4:76acfddc26fb 121 }
bulmecisco 4:76acfddc26fb 122
bulmecisco 4:76acfddc26fb 123
bulmecisco 4:76acfddc26fb 124 @endcode
bulmecisco 0:66e9a0afcbd6 125 */
bulmecisco 0:66e9a0afcbd6 126 class ur_Bertl
bulmecisco 0:66e9a0afcbd6 127 {
bulmecisco 0:66e9a0afcbd6 128 protected:
bulmecisco 4:76acfddc26fb 129 int beepersInBag; /**< how many beepers does the robot have in his bag;\n you can show it with: karel.NibbleLeds(karel.AnyBeeperInBag())*/
bulmecisco 0:66e9a0afcbd6 130 char cmd[3]; /**< I2C command */
bulmecisco 0:66e9a0afcbd6 131 int16_t btns; /**< which button is pressed */
bulmecisco 0:66e9a0afcbd6 132 InterruptIn _interrupt; /**< interrupted used*/
bulmecisco 0:66e9a0afcbd6 133 volatile int _count; /**< values of motor sensor*/
bulmecisco 0:66e9a0afcbd6 134
bulmecisco 0:66e9a0afcbd6 135 /**
bulmecisco 0:66e9a0afcbd6 136 protected methodes for internal purposes only
bulmecisco 0:66e9a0afcbd6 137 */
bulmecisco 0:66e9a0afcbd6 138 void increment(); /**< ISR to increment sensor values of motor */
bulmecisco 0:66e9a0afcbd6 139 bool backIsClear(); /**< don't now for what */
bulmecisco 0:66e9a0afcbd6 140 bool frontButtonPressed();/**< TRUE if a a button on the front of Robot is pressed else FALSE */
bulmecisco 4:76acfddc26fb 141 int bottomIsBlack(); /**< check line sensor; returns BCD value */
bulmecisco 0:66e9a0afcbd6 142 void error(); /**< Error: stops the robot and all LEDs are blinking*/
bulmecisco 0:66e9a0afcbd6 143
bulmecisco 0:66e9a0afcbd6 144 public:
bulmecisco 0:66e9a0afcbd6 145 ur_Bertl(); /**< default constructor; you have to define constants in config.h such as SPEED, DISTANCE or ANGLE*/
bulmecisco 0:66e9a0afcbd6 146 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 147
bulmecisco 12:cedc088eaf05 148 //void Move(); /**< Robot moves one turn as much as the constant DISTANCE; if one of the buttons fire --> Error()*/
bulmecisco 12:cedc088eaf05 149 void Move(int move = MOVE); /**< Robot moves one turn as much as the constant DISTANCE; if one of the buttons fire --> Error()*/
bulmecisco 0:66e9a0afcbd6 150 void TurnLeft(); /**< Robot turns left as much as the constant ANGLE*/
bulmecisco 0:66e9a0afcbd6 151 void PutBeeper(); /**< if Robot has any Beepers in his bag he can put one or more Beeper; if not --> Error(()*/
bulmecisco 4:76acfddc26fb 152 void PickBeeper(); /**< if Robot stands on a black item he can pick one or more Beeper (max. 15 --> Error()); if not --> Error()*/
bulmecisco 4:76acfddc26fb 153 void ShutOff(); /**< turnes the robot off */
bulmecisco 4:76acfddc26fb 154 bool WaitUntilButtonPressed(); /**< wait until any button is pressed at the robot */
bulmecisco 1:fafbac0ba96d 155 bool FrontIsClear(); /**< returns a boolean value true if front is free; if not false */
bulmecisco 4:76acfddc26fb 156 bool NextToABeeper(); /**< returns a boolean value true if the robot is on a black place or line; if not --> false */
bulmecisco 7:e7f74f072564 157 bool IsButtonPressed(const int btn); /**< returns true if Button btn is pressed, else false */
bulmecisco 7:e7f74f072564 158 int ReturnButtonPressed(); /**< returns the int value of button pressed */
bulmecisco 4:76acfddc26fb 159 int AnyBeeperInBag(); /**< returns an int value (if > 0 equal true) how many beepers in bag; if zero --> false */
bulmecisco 4:76acfddc26fb 160 void NibbleLeds(int value); /**< methode for the 4 (half byte) yellow LEDs at the back left side; ie. you can show how many beeper a robot has in his bag with: karel.NibbleLeds(karel.AnyBeeperInBag())*/
bulmecisco 0:66e9a0afcbd6 161 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 162 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 163 void RGBLed(bool red, bool green, bool blue); /**<RGB Led with red, green and blue component of the Color */
bulmecisco 0:66e9a0afcbd6 164 void BlueLedsOFF(); /**< OFF all blue LEDs which are on the same Port 1_28 */
bulmecisco 0:66e9a0afcbd6 165 void BlueLedsON(); /**< ON all blue LEDs which are on the same Port 1_28 */
bulmecisco 0:66e9a0afcbd6 166 int Read();
bulmecisco 0:66e9a0afcbd6 167 };
bulmecisco 12:cedc088eaf05 168 /********************************************//**
bulmecisco 12:cedc088eaf05 169 name: Bertl.h \n
bulmecisco 12:cedc088eaf05 170 version: 1.0 \n
bulmecisco 12:cedc088eaf05 171 author:PE HTL BULME \n
bulmecisco 12:cedc088eaf05 172 email: pe@bulme.at \n
bulmecisco 12:cedc088eaf05 173 WIKI: https://developer.mbed.org/teams/BERTL_CHEL_18/code/ur_Bertl/wiki/Homepage \n
bulmecisco 12:cedc088eaf05 174 description:
bulmecisco 12:cedc088eaf05 175 Definition and documentation portion of the class Bertl The Robot.
bulmecisco 12:cedc088eaf05 176
bulmecisco 12:cedc088eaf05 177 ***********************************************/
bulmecisco 12:cedc088eaf05 178
bulmecisco 12:cedc088eaf05 179 /**
bulmecisco 12:cedc088eaf05 180 @code
bulmecisco 12:cedc088eaf05 181 //
bulmecisco 12:cedc088eaf05 182 @endcode
bulmecisco 12:cedc088eaf05 183
bulmecisco 12:cedc088eaf05 184 Example motor sensor test:
bulmecisco 12:cedc088eaf05 185 @code
bulmecisco 12:cedc088eaf05 186 #include "mbed.h"
bulmecisco 12:cedc088eaf05 187 #include "ur_Bertl.h"
bulmecisco 12:cedc088eaf05 188 #include "const.h"
bulmecisco 12:cedc088eaf05 189
bulmecisco 12:cedc088eaf05 190 int main()
bulmecisco 12:cedc088eaf05 191 {
bulmecisco 12:cedc088eaf05 192 ur_Bertl karel(LEFTSENSOR); // RIGHTSENSOR
bulmecisco 12:cedc088eaf05 193
bulmecisco 12:cedc088eaf05 194 while(true) {
bulmecisco 12:cedc088eaf05 195 karel.NibbleLeds(karel.Read());
bulmecisco 12:cedc088eaf05 196 }
bulmecisco 12:cedc088eaf05 197 }
bulmecisco 12:cedc088eaf05 198 @endcode
bulmecisco 12:cedc088eaf05 199
bulmecisco 12:cedc088eaf05 200 Example follow a line:
bulmecisco 12:cedc088eaf05 201 @code
bulmecisco 12:cedc088eaf05 202 #include "mbed.h"
bulmecisco 12:cedc088eaf05 203 #include "ur_Bertl.h"
bulmecisco 12:cedc088eaf05 204 #include "const.h"
bulmecisco 12:cedc088eaf05 205
bulmecisco 12:cedc088eaf05 206 int main()
bulmecisco 12:cedc088eaf05 207 {
bulmecisco 12:cedc088eaf05 208 Bertl karel;
bulmecisco 12:cedc088eaf05 209
bulmecisco 12:cedc088eaf05 210 while(karel.WaitUntilButtonPressed())
bulmecisco 12:cedc088eaf05 211 {
bulmecisco 12:cedc088eaf05 212 karel.NibbleLeds(karel.GetLineValues());
bulmecisco 12:cedc088eaf05 213 switch(karel.GetLineValues())
bulmecisco 12:cedc088eaf05 214 {
bulmecisco 12:cedc088eaf05 215 case 0x00:
bulmecisco 12:cedc088eaf05 216 karel.TurnLeftStep(50);
bulmecisco 12:cedc088eaf05 217 break;
bulmecisco 12:cedc088eaf05 218 case 0x03: case 0x01: case 0x07:
bulmecisco 12:cedc088eaf05 219 karel.TurnLeftStep(20);
bulmecisco 12:cedc088eaf05 220 break;
bulmecisco 12:cedc088eaf05 221 case 0x0E: case 0x0A: case 0x08:
bulmecisco 12:cedc088eaf05 222 karel.TurnRigthStep(20);
bulmecisco 12:cedc088eaf05 223 break;
bulmecisco 12:cedc088eaf05 224 default:
bulmecisco 12:cedc088eaf05 225 karel.Move(20);
bulmecisco 12:cedc088eaf05 226 break;
bulmecisco 12:cedc088eaf05 227 }
bulmecisco 12:cedc088eaf05 228 if(!karel.FrontIsClear())
bulmecisco 12:cedc088eaf05 229 karel.TurnLeftStep(1000);
bulmecisco 12:cedc088eaf05 230 }
bulmecisco 12:cedc088eaf05 231 }
bulmecisco 12:cedc088eaf05 232 @endcode
bulmecisco 12:cedc088eaf05 233 */
bulmecisco 12:cedc088eaf05 234 class Bertl : public ur_Bertl
bulmecisco 12:cedc088eaf05 235 {
bulmecisco 12:cedc088eaf05 236 protected:
bulmecisco 12:cedc088eaf05 237 public:
bulmecisco 12:cedc088eaf05 238 //Bertl(); /**< default constructor; you have to define constants in config.h such as SPEED, DISTANCE or ANGLE*/
bulmecisco 12:cedc088eaf05 239 void MoveBackwards(int move = MOVE); /**< Robot moves as much back as the constant DISTANCE; if one of the buttons fire --> Error()*/
bulmecisco 12:cedc088eaf05 240 void TurnRigth(); /**< Robot turns rigth as much as the constant ANGLE*/
bulmecisco 12:cedc088eaf05 241 void TurnLeftStep(int step=STEPTIME); /**< Robot turns left for a short time defined in STEPTIME */
bulmecisco 12:cedc088eaf05 242 void TurnRigthStep(int step=STEPTIME); /**< Robot turns rigth for a short time defined in STEPTIME */
bulmecisco 12:cedc088eaf05 243 uint8_t GetLineValues(); /**< in the lower 4 bit are the values of the line sensor */
bulmecisco 12:cedc088eaf05 244 };
bulmecisco 0:66e9a0afcbd6 245 #endif