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Dependencies:   QEI mbed

control.cpp@4:48d390356fba, 2018-02-22 (annotated)

Committer:
Weranest
Date:
Thu Feb 22 17:01:00 2018 +0000
Revision:
4:48d390356fba
Tech Demo version

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Weranest 4:48d390356fba 1 #include "mbed.h"
Weranest 4:48d390356fba 2 #include "pwm.h"
Weranest 4:48d390356fba 3 #include "pins.h"
Weranest 4:48d390356fba 4 #include "constants.cpp"
Weranest 4:48d390356fba 5 #include "C12832.h"
Weranest 4:48d390356fba 6 #include "encoderBase.h"
Weranest 4:48d390356fba 7
Weranest 4:48d390356fba 8 void buggyGoLeft();
Weranest 4:48d390356fba 9 void buggyGoF();
Weranest 4:48d390356fba 10 void buggyGoRight();
Weranest 4:48d390356fba 11 void buggyStop();
Weranest 4:48d390356fba 12
Weranest 4:48d390356fba 13 void controlAutomatic(int flag){ //this is a showoff version
Weranest 4:48d390356fba 14 while(flag==1){
Weranest 4:48d390356fba 15 wait(0.5);
Weranest 4:48d390356fba 16 buggyGoF();
Weranest 4:48d390356fba 17 wait(2);
Weranest 4:48d390356fba 18 buggyGoLeft();
Weranest 4:48d390356fba 19 wait(2);
Weranest 4:48d390356fba 20 buggyGoRight();
Weranest 4:48d390356fba 21 wait(2);
Weranest 4:48d390356fba 22 buggyStop();
Weranest 4:48d390356fba 23 }
Weranest 4:48d390356fba 24 }
Weranest 4:48d390356fba 25 void controlManual(int flag){
Weranest 4:48d390356fba 26 while (1){ //this function is for manual wheel turnage using the potentiometers. Knock yourself out
Weranest 4:48d390356fba 27 while(1){
Weranest 4:48d390356fba 28 if(joystickDown!=0) break;
Weranest 4:48d390356fba 29
Weranest 4:48d390356fba 30 float rightPWM= (float)potentiometerRight.read() ;
Weranest 4:48d390356fba 31 float leftPWM= (float)potentiometerLeft.read();
Weranest 4:48d390356fba 32 lcd.locate(0,3);
Weranest 4:48d390356fba 33 lcd.printf("L=%d; R=%d", encoderVelocityLeft(), encoderVelocityRight());
Weranest 4:48d390356fba 34 //wait(2);
Weranest 4:48d390356fba 35 lcd.cls();
Weranest 4:48d390356fba 36 buggyPWM(leftPWM ,rightPWM);
Weranest 4:48d390356fba 37 }
Weranest 4:48d390356fba 38 wait(0.5);
Weranest 4:48d390356fba 39 buggyGoF();
Weranest 4:48d390356fba 40 wait(1);
Weranest 4:48d390356fba 41 buggyGoLeft();
Weranest 4:48d390356fba 42 wait(2);
Weranest 4:48d390356fba 43 buggyGoRight();
Weranest 4:48d390356fba 44 wait(2);
Weranest 4:48d390356fba 45 buggyGoF();
Weranest 4:48d390356fba 46 wait (1);
Weranest 4:48d390356fba 47 buggyStop();
Weranest 4:48d390356fba 48 }
Weranest 4:48d390356fba 49 }
Weranest 4:48d390356fba 50
Weranest 4:48d390356fba 51
Weranest 4:48d390356fba 52 void stateMachine(int flag){
Weranest 4:48d390356fba 53 while (1){ //depending on the flag changes the state. Not efficient, since relies on looping the whole thing, but will do for now
Weranest 4:48d390356fba 54 switch(flag){
Weranest 4:48d390356fba 55 case 0: controlManual(flag);
Weranest 4:48d390356fba 56 case 1:controlAutomatic(flag);
Weranest 4:48d390356fba 57 break;
Weranest 4:48d390356fba 58 }
Weranest 4:48d390356fba 59 }
Weranest 4:48d390356fba 60 }
Weranest 4:48d390356fba 61 void buggyGoLeft(){
Weranest 4:48d390356fba 62 buggyPWM(SLOW_PWM, FAST_PWM);
Weranest 4:48d390356fba 63 }
Weranest 4:48d390356fba 64 void buggyGoRight(){
Weranest 4:48d390356fba 65 buggyPWM(FAST_PWM, SLOW_PWM);
Weranest 4:48d390356fba 66 }
Weranest 4:48d390356fba 67 void buggyGoF(){
Weranest 4:48d390356fba 68 buggyPWM(NORMAL_PWM, NORMAL_PWM);
Weranest 4:48d390356fba 69 }
Weranest 4:48d390356fba 70 void buggyStop(){
Weranest 4:48d390356fba 71 buggyPWM(0.0f, 0.0f);
Weranest 4:48d390356fba 72 }