Library for the CustomExplorerRobot.
Dependents: CustomExplorerRobot_test
CustomExplorerRobot.h@1:dce53bcd79a4, 2016-02-27 (annotated)
- Committer:
- Usuke
- Date:
- Sat Feb 27 10:04:22 2016 +0000
- Revision:
- 1:dce53bcd79a4
- Parent:
- 0:ad4667fc5a76
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Who changed what in which revision?
User | Revision | Line number | New contents of line |
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Usuke | 0:ad4667fc5a76 | 1 | /* mbed CustomExplorerRobot Library |
Usuke | 0:ad4667fc5a76 | 2 | * |
Usuke | 0:ad4667fc5a76 | 3 | * CustomExplorerRobot.h |
Usuke | 0:ad4667fc5a76 | 4 | * |
Usuke | 0:ad4667fc5a76 | 5 | * Copyright (c) 2016 ?????? |
Usuke | 0:ad4667fc5a76 | 6 | * |
Usuke | 0:ad4667fc5a76 | 7 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
Usuke | 0:ad4667fc5a76 | 8 | * of this software and associated documentation files (the "Software"), to deal |
Usuke | 0:ad4667fc5a76 | 9 | * in the Software without restriction, including without limitation the rights |
Usuke | 0:ad4667fc5a76 | 10 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
Usuke | 0:ad4667fc5a76 | 11 | * copies of the Software, and to permit persons to whom the Software is |
Usuke | 0:ad4667fc5a76 | 12 | * furnished to do so, subject to the following conditions: |
Usuke | 0:ad4667fc5a76 | 13 | * |
Usuke | 0:ad4667fc5a76 | 14 | * The above copyright notice and this permission notice shall be included in |
Usuke | 0:ad4667fc5a76 | 15 | * all copies or substantial portions of the Software. |
Usuke | 0:ad4667fc5a76 | 16 | * |
Usuke | 0:ad4667fc5a76 | 17 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
Usuke | 0:ad4667fc5a76 | 18 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
Usuke | 0:ad4667fc5a76 | 19 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
Usuke | 0:ad4667fc5a76 | 20 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
Usuke | 0:ad4667fc5a76 | 21 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
Usuke | 0:ad4667fc5a76 | 22 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
Usuke | 0:ad4667fc5a76 | 23 | * THE SOFTWARE. |
Usuke | 0:ad4667fc5a76 | 24 | */ |
Usuke | 0:ad4667fc5a76 | 25 | |
Usuke | 0:ad4667fc5a76 | 26 | #ifndef CUSTOMEXPLORERROBOT_H |
Usuke | 0:ad4667fc5a76 | 27 | #define CUSTOMEXPLORERROBOT_H |
Usuke | 0:ad4667fc5a76 | 28 | |
Usuke | 0:ad4667fc5a76 | 29 | #include "mbed.h" |
Usuke | 0:ad4667fc5a76 | 30 | #include "BD6212.h" |
Usuke | 0:ad4667fc5a76 | 31 | |
Usuke | 0:ad4667fc5a76 | 32 | /** CustomExplorerRobot control class |
Usuke | 0:ad4667fc5a76 | 33 | * |
Usuke | 0:ad4667fc5a76 | 34 | * Example: |
Usuke | 0:ad4667fc5a76 | 35 | * @code |
Usuke | 0:ad4667fc5a76 | 36 | * // Drive the CustomExplorerRobot forward, turn left, back, turn right, at half speed for half a second |
Usuke | 0:ad4667fc5a76 | 37 | |
Usuke | 0:ad4667fc5a76 | 38 | #include "mbed.h" |
Usuke | 0:ad4667fc5a76 | 39 | #include "CustomExplorerRobot.h" |
Usuke | 0:ad4667fc5a76 | 40 | |
Usuke | 0:ad4667fc5a76 | 41 | CustomExplorerRobot cer; |
Usuke | 0:ad4667fc5a76 | 42 | |
Usuke | 0:ad4667fc5a76 | 43 | int main() { |
Usuke | 0:ad4667fc5a76 | 44 | |
Usuke | 0:ad4667fc5a76 | 45 | wait(0.5f); |
Usuke | 0:ad4667fc5a76 | 46 | cer.forward(0.5f); |
Usuke | 0:ad4667fc5a76 | 47 | wait(0.5f); |
Usuke | 0:ad4667fc5a76 | 48 | cer.left(0.5f); |
Usuke | 0:ad4667fc5a76 | 49 | wait(0.5f); |
Usuke | 0:ad4667fc5a76 | 50 | cer.backward(0.5f); |
Usuke | 0:ad4667fc5a76 | 51 | wait(0.5f); |
Usuke | 0:ad4667fc5a76 | 52 | cer.right(0.5f); |
Usuke | 0:ad4667fc5a76 | 53 | wait(0.5f); |
Usuke | 0:ad4667fc5a76 | 54 | cer.stop(); |
Usuke | 0:ad4667fc5a76 | 55 | |
Usuke | 0:ad4667fc5a76 | 56 | return 0; |
Usuke | 0:ad4667fc5a76 | 57 | } |
Usuke | 0:ad4667fc5a76 | 58 | * @endcode |
Usuke | 0:ad4667fc5a76 | 59 | */ |
Usuke | 0:ad4667fc5a76 | 60 | class CustomExplorerRobot{ |
Usuke | 0:ad4667fc5a76 | 61 | public: |
Usuke | 0:ad4667fc5a76 | 62 | /** Create the CustomExplorerRobot object connected to the default pins |
Usuke | 0:ad4667fc5a76 | 63 | */ |
Usuke | 0:ad4667fc5a76 | 64 | CustomExplorerRobot(); |
Usuke | 0:ad4667fc5a76 | 65 | |
Usuke | 0:ad4667fc5a76 | 66 | /** Directly control the speed and direction of the left motor |
Usuke | 0:ad4667fc5a76 | 67 | * |
Usuke | 0:ad4667fc5a76 | 68 | * @param speed A normalised number -1.0 - 1.0 represents the full range. |
Usuke | 0:ad4667fc5a76 | 69 | */ |
Usuke | 0:ad4667fc5a76 | 70 | void left_motor(float speed); |
Usuke | 0:ad4667fc5a76 | 71 | |
Usuke | 0:ad4667fc5a76 | 72 | /** Directly control the speed and direction of the right motor |
Usuke | 0:ad4667fc5a76 | 73 | * |
Usuke | 0:ad4667fc5a76 | 74 | * @param speed A normalised number -1.0 - 1.0 represents the full range. |
Usuke | 0:ad4667fc5a76 | 75 | */ |
Usuke | 0:ad4667fc5a76 | 76 | void right_motor(float speed); |
Usuke | 0:ad4667fc5a76 | 77 | |
Usuke | 0:ad4667fc5a76 | 78 | /** Drive both motors forward as the same speed |
Usuke | 0:ad4667fc5a76 | 79 | * |
Usuke | 0:ad4667fc5a76 | 80 | * @param speed A normalised number 0 - 1.0 represents the full range. |
Usuke | 0:ad4667fc5a76 | 81 | */ |
Usuke | 0:ad4667fc5a76 | 82 | void forward(float speed); |
Usuke | 0:ad4667fc5a76 | 83 | |
Usuke | 0:ad4667fc5a76 | 84 | /** Drive both motors backward as the same speed |
Usuke | 0:ad4667fc5a76 | 85 | * |
Usuke | 0:ad4667fc5a76 | 86 | * @param speed A normalised number 0 - 1.0 represents the full range. |
Usuke | 0:ad4667fc5a76 | 87 | */ |
Usuke | 0:ad4667fc5a76 | 88 | void backward(float speed); |
Usuke | 0:ad4667fc5a76 | 89 | |
Usuke | 0:ad4667fc5a76 | 90 | /** Drive left motor backwards and right motor forwards at the same speed to turn on the spot |
Usuke | 0:ad4667fc5a76 | 91 | * |
Usuke | 0:ad4667fc5a76 | 92 | * @param speed A normalised number 0 - 1.0 represents the full range. |
Usuke | 0:ad4667fc5a76 | 93 | */ |
Usuke | 0:ad4667fc5a76 | 94 | void left(float speed); |
Usuke | 0:ad4667fc5a76 | 95 | |
Usuke | 0:ad4667fc5a76 | 96 | /** Drive left motor forward and right motor backwards at the same speed to turn on the spot |
Usuke | 0:ad4667fc5a76 | 97 | * @param speed A normalised number 0 - 1.0 represents the full range. |
Usuke | 0:ad4667fc5a76 | 98 | */ |
Usuke | 0:ad4667fc5a76 | 99 | void right(float speed); |
Usuke | 0:ad4667fc5a76 | 100 | |
Usuke | 0:ad4667fc5a76 | 101 | /** Stop both motors |
Usuke | 0:ad4667fc5a76 | 102 | * |
Usuke | 0:ad4667fc5a76 | 103 | */ |
Usuke | 0:ad4667fc5a76 | 104 | void stop(void); |
Usuke | 0:ad4667fc5a76 | 105 | |
Usuke | 0:ad4667fc5a76 | 106 | protected: |
Usuke | 0:ad4667fc5a76 | 107 | BD6212 _right; |
Usuke | 0:ad4667fc5a76 | 108 | BD6212 _left; |
Usuke | 0:ad4667fc5a76 | 109 | |
Usuke | 0:ad4667fc5a76 | 110 | DigitalOut _redled; |
Usuke | 0:ad4667fc5a76 | 111 | DigitalOut _blueled; |
Usuke | 0:ad4667fc5a76 | 112 | |
Usuke | 0:ad4667fc5a76 | 113 | PwmOut _buzzer; |
Usuke | 0:ad4667fc5a76 | 114 | |
Usuke | 0:ad4667fc5a76 | 115 | }; |
Usuke | 0:ad4667fc5a76 | 116 | |
Usuke | 0:ad4667fc5a76 | 117 | #endif |