Diff: CustomExplorerRobot.h

Revision:

0:ad4667fc5a76

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/CustomExplorerRobot.h	Sat Feb 27 09:20:21 2016 +0000
@@ -0,0 +1,117 @@
+/* mbed CustomExplorerRobot Library
+ *
+ * CustomExplorerRobot.h
+ *
+ * Copyright (c) 2016 ??????
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#ifndef CUSTOMEXPLORERROBOT_H
+#define CUSTOMEXPLORERROBOT_H
+
+#include "mbed.h"
+#include "BD6212.h"
+
+/** CustomExplorerRobot control class
+ *
+ * Example:
+ * @code
+ * // Drive the CustomExplorerRobot forward, turn left, back, turn right, at half speed for half a second
+ 
+#include "mbed.h"
+#include "CustomExplorerRobot.h"
+
+CustomExplorerRobot cer;
+
+int main() {
+    
+    wait(0.5f);
+    cer.forward(0.5f);
+    wait(0.5f);
+    cer.left(0.5f);
+    wait(0.5f);
+    cer.backward(0.5f);
+    wait(0.5f);
+    cer.right(0.5f);
+    wait(0.5f);
+    cer.stop();
+    
+    return 0;
+}
+ * @endcode
+ */
+class CustomExplorerRobot{
+    public:
+    /** Create the CustomExplorerRobot object connected to the default pins
+     */
+    CustomExplorerRobot();
+    
+    /** Directly control the speed and direction of the left motor
+     *
+     * @param speed A normalised number -1.0 - 1.0 represents the full range.
+     */
+    void left_motor(float speed);
+    
+    /** Directly control the speed and direction of the right motor
+     *
+     * @param speed A normalised number -1.0 - 1.0 represents the full range.
+     */
+    void right_motor(float speed);
+    
+    /** Drive both motors forward as the same speed
+     *
+     * @param speed A normalised number 0 - 1.0 represents the full range.
+     */
+    void forward(float speed);
+    
+    /** Drive both motors backward as the same speed
+     *
+     * @param speed A normalised number 0 - 1.0 represents the full range.
+     */
+    void backward(float speed);
+    
+    /** Drive left motor backwards and right motor forwards at the same speed to turn on the spot
+     *
+     * @param speed A normalised number 0 - 1.0 represents the full range.
+     */
+    void left(float speed);
+    
+    /** Drive left motor forward and right motor backwards at the same speed to turn on the spot
+     * @param speed A normalised number 0 - 1.0 represents the full range.
+     */
+    void right(float speed);
+    
+    /** Stop both motors
+     *
+     */
+    void stop(void);
+    
+    protected:
+    BD6212 _right;
+    BD6212 _left;
+    
+    DigitalOut _redled;
+    DigitalOut _blueled;
+    
+    PwmOut _buzzer;
+    
+};
+
+#endif