Xiaofei Qiu / Command

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Command.cpp@1:13c4bf8989d5, 2015-11-22 (annotated)

Committer:
Xiaofei
Date:
Sun Nov 22 01:04:17 2015 +0000
Revision:
1:13c4bf8989d5
Parent:
0:4bc34a5fcc29
Child:
2:3d1c13d63966
Commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Xiaofei 0:4bc34a5fcc29 1 #pragma once
Xiaofei 0:4bc34a5fcc29 2 #include "Command.h"
Xiaofei 0:4bc34a5fcc29 3 #include "mbed.h"
Xiaofei 1:13c4bf8989d5 4 #include "Motor.h"
Xiaofei 0:4bc34a5fcc29 5
Xiaofei 1:13c4bf8989d5 6 Motor _RIGHT_WHEEL(p25, p6, p5); // Motor A pwm, fwd, rev
Xiaofei 1:13c4bf8989d5 7 Motor _LEFT_WHEEL(p26, p7, p8);//Motor B pwm, fwd, rev
Xiaofei 1:13c4bf8989d5 8 DigitalOut _STBY(p11); // Set STBY = 1, enable both motor; Set STBY = 0; disable both motor.
Xiaofei 1:13c4bf8989d5 9 AnalogIn _IR(p17); //IR sensor
Xiaofei 1:13c4bf8989d5 10 DigitalOut _LED1(LED1);
Xiaofei 1:13c4bf8989d5 11
Xiaofei 1:13c4bf8989d5 12 DigitalIn _LEFT_ENCODER(p19);
Xiaofei 1:13c4bf8989d5 13 DigitalIn _RIGHT_ENCODER(p20);
Xiaofei 0:4bc34a5fcc29 14
Xiaofei 1:13c4bf8989d5 15 Serial pc(USBTX,USBRX);
Xiaofei 1:13c4bf8989d5 16
Xiaofei 1:13c4bf8989d5 17 Command::Command():_LEFT_SPEED(0),_RIGHT_SPEED(0)
Xiaofei 1:13c4bf8989d5 18 {}
Xiaofei 1:13c4bf8989d5 19
Xiaofei 1:13c4bf8989d5 20 void Command::setSpeed(const std::int8_t& l_sp,const std::int8_t& r_sp)
Xiaofei 1:13c4bf8989d5 21 {
Xiaofei 1:13c4bf8989d5 22 _STBY = 1;
Xiaofei 1:13c4bf8989d5 23 _LEFT_SPEED = l_sp;
Xiaofei 1:13c4bf8989d5 24 _RIGHT_SPEED = r_sp;
Xiaofei 1:13c4bf8989d5 25 }
Xiaofei 0:4bc34a5fcc29 26
Xiaofei 0:4bc34a5fcc29 27 void LedCommand :: execute()
Xiaofei 0:4bc34a5fcc29 28 {
Xiaofei 1:13c4bf8989d5 29 _LED1 = !_LED1;
Xiaofei 0:4bc34a5fcc29 30 }
Xiaofei 0:4bc34a5fcc29 31
Xiaofei 0:4bc34a5fcc29 32 void TurnLeftCommand :: execute()
Xiaofei 0:4bc34a5fcc29 33 {
Xiaofei 1:13c4bf8989d5 34 _STBY = 1;
Xiaofei 1:13c4bf8989d5 35 _RIGHT_WHEEL.speed(_RIGHT_SPEED);
Xiaofei 1:13c4bf8989d5 36 _LEFT_WHEEL.speed(_LEFT_SPEED);
Xiaofei 0:4bc34a5fcc29 37 }
Xiaofei 0:4bc34a5fcc29 38
Xiaofei 0:4bc34a5fcc29 39 void TurnRightCommand :: execute()
Xiaofei 0:4bc34a5fcc29 40 {
Xiaofei 1:13c4bf8989d5 41 _STBY = 1;
Xiaofei 1:13c4bf8989d5 42 _RIGHT_WHEEL.speed(_RIGHT_SPEED);
Xiaofei 1:13c4bf8989d5 43 _LEFT_WHEEL.speed(_LEFT_SPEED);
Xiaofei 0:4bc34a5fcc29 44 }
Xiaofei 0:4bc34a5fcc29 45
Xiaofei 0:4bc34a5fcc29 46 void MoveForwardCommand :: execute()
Xiaofei 0:4bc34a5fcc29 47 {
Xiaofei 1:13c4bf8989d5 48 _STBY = 1;
Xiaofei 1:13c4bf8989d5 49 _RIGHT_WHEEL.speed(0.5);
Xiaofei 1:13c4bf8989d5 50 _LEFT_WHEEL.speed(0.5);
Xiaofei 0:4bc34a5fcc29 51 }
Xiaofei 0:4bc34a5fcc29 52
Xiaofei 0:4bc34a5fcc29 53 void MoveBackwardCommand :: execute()
Xiaofei 0:4bc34a5fcc29 54 {
Xiaofei 1:13c4bf8989d5 55
Xiaofei 1:13c4bf8989d5 56 _STBY = 1;
Xiaofei 1:13c4bf8989d5 57 _RIGHT_WHEEL.speed(_RIGHT_SPEED);
Xiaofei 1:13c4bf8989d5 58 _LEFT_WHEEL.speed(_LEFT_SPEED);
Xiaofei 0:4bc34a5fcc29 59 }
Xiaofei 0:4bc34a5fcc29 60
Xiaofei 0:4bc34a5fcc29 61 void StopCommand :: execute()
Xiaofei 0:4bc34a5fcc29 62 {
Xiaofei 1:13c4bf8989d5 63 _RIGHT_WHEEL.speed(_RIGHT_SPEED);
Xiaofei 1:13c4bf8989d5 64 _LEFT_WHEEL.speed(_LEFT_SPEED);
Xiaofei 0:4bc34a5fcc29 65 }
Xiaofei 0:4bc34a5fcc29 66