Library for the CustomExplorerRobot.
Dependents: CustomExplorerRobot_test
Diff: CustomExplorerRobot.h
- Revision:
- 0:ad4667fc5a76
diff -r 000000000000 -r ad4667fc5a76 CustomExplorerRobot.h --- /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