Revision 0:ad4667fc5a76, committed 2016-02-27

Comitter:

Usuke

Date:

Sat Feb 27 09:20:21 2016 +0000

Child:

1:dce53bcd79a4

Commit message:

??

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BD6212/BD6212.cpp	Sat Feb 27 09:20:21 2016 +0000
@@ -0,0 +1,36 @@
+#include "mbed.h"
+#include "BD6212.h"
+
+BD6212::BD6212(PinName fwd, PinName rev) : _fwd(fwd), _rev(rev){
+    _fwd.period_us(20);
+    _rev.period_us(20);
+    _fwd = 0.0f;
+    _rev = 0.0f;
+    
+    bspeed = 0.0f;
+}
+
+void BD6212::speed(float speed){
+    _fwd.period_us(20);
+    _rev.period_us(20);
+    if(speed != bspeed){
+        if(speed > 0.0f){
+            _fwd = speed;
+            _rev = 0.0f;
+        }else if(speed < 0.0f){
+            _fwd = 0.0f;
+            _rev = -speed;
+        }else{
+            _fwd = 1.0f;
+            _rev = 1.0f;
+        }
+        bspeed = speed;
+    }
+}
+
+void BD6212::coast(void){
+    _fwd.period_us(20);
+    _rev.period_us(20);
+    _fwd = 0.0f;
+    _rev = 0.0f;
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BD6212/BD6212.h	Sat Feb 27 09:20:21 2016 +0000
@@ -0,0 +1,27 @@
+#ifndef MBED_BD6212_H
+#define MBED_BD6212_H
+
+#include "mbed.h"
+/** BD6212 control with direct PWM class
+ */
+class BD6212{
+    public:
+    
+    BD6212(PinName fwd, PinName rev);
+    
+    void speed(float speed);
+    
+    void coast(void);
+    
+    void operator= ( float value )
+    {
+        speed(value);
+    }
+    
+    protected:
+    PwmOut _fwd;
+    PwmOut _rev;
+    float bspeed;
+};
+
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/CustomExplorerRobot.cpp	Sat Feb 27 09:20:21 2016 +0000
@@ -0,0 +1,68 @@
+/* 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.
+ */
+
+#include "mbed.h"
+#include "CustomExplorerRobot.h"
+
+CustomExplorerRobot::CustomExplorerRobot() : _right(PC_7, PC_6), _left(PC_8, PC_9), _redled(PC_5), _blueled(PA_12), _buzzer(PA_11) {
+    _right = 0.0f;
+    _left = 0.0f;
+    _redled = 1.0f;
+    _blueled = 1.0f;
+    _buzzer = 0.0f;
+}
+    
+void CustomExplorerRobot::left_motor(float speed){
+    _left = speed;
+}
+    
+void CustomExplorerRobot::right_motor(float speed){
+    _right = speed;
+}
+    
+void CustomExplorerRobot::forward(float speed){
+    _left = speed;
+    _right = speed;
+}
+    
+void CustomExplorerRobot::backward(float speed){
+    _left = -speed;
+    _right = -speed;
+}
+    
+void CustomExplorerRobot::left(float speed){
+    _left = -speed;
+    _right = speed;
+}
+
+void CustomExplorerRobot::right(float speed){
+    _left = speed;
+    _right = -speed;
+}
+
+void CustomExplorerRobot::stop(void){
+    _left = 0.0f;
+    _right = 0.0f;
+}

--- /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