Xiaofei Qiu / Command

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Command.cpp@2:3d1c13d63966, 2015-11-28 (annotated)

Committer:
Xiaofei
Date:
Sat Nov 28 00:57:26 2015 +0000
Revision:
2:3d1c13d63966
Parent:
1:13c4bf8989d5
Child:
3:97a5a3744481
c

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 2:3d1c13d63966 6 Motor _RIGHT_WHEEL(p25, p6, p5); // Motor A pwm, fwd, rev
Xiaofei 2:3d1c13d63966 7 Motor _LEFT_WHEEL(p26, p7, p8); // Motor B pwm, fwd, rev
Xiaofei 2:3d1c13d63966 8 DigitalOut _STBY(p11); // Set STBY = 1, enable both motor; Set STBY = 0; disable both motor.
Xiaofei 2:3d1c13d63966 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 Command::Command():_LEFT_SPEED(0),_RIGHT_SPEED(0)
Xiaofei 1:13c4bf8989d5 16 {}
Xiaofei 1:13c4bf8989d5 17
Xiaofei 1:13c4bf8989d5 18 void Command::setSpeed(const std::int8_t& l_sp,const std::int8_t& r_sp)
Xiaofei 1:13c4bf8989d5 19 {
Xiaofei 1:13c4bf8989d5 20 _STBY = 1;
Xiaofei 1:13c4bf8989d5 21 _LEFT_SPEED = l_sp;
Xiaofei 1:13c4bf8989d5 22 _RIGHT_SPEED = r_sp;
Xiaofei 1:13c4bf8989d5 23 }
Xiaofei 0:4bc34a5fcc29 24
Xiaofei 0:4bc34a5fcc29 25 void LedCommand :: execute()
Xiaofei 0:4bc34a5fcc29 26 {
Xiaofei 1:13c4bf8989d5 27 _LED1 = !_LED1;
Xiaofei 0:4bc34a5fcc29 28 }
Xiaofei 0:4bc34a5fcc29 29
Xiaofei 0:4bc34a5fcc29 30 void TurnLeftCommand :: execute()
Xiaofei 0:4bc34a5fcc29 31 {
Xiaofei 1:13c4bf8989d5 32 _STBY = 1;
Xiaofei 1:13c4bf8989d5 33 _RIGHT_WHEEL.speed(_RIGHT_SPEED);
Xiaofei 1:13c4bf8989d5 34 _LEFT_WHEEL.speed(_LEFT_SPEED);
Xiaofei 0:4bc34a5fcc29 35 }
Xiaofei 0:4bc34a5fcc29 36
Xiaofei 0:4bc34a5fcc29 37 void TurnRightCommand :: execute()
Xiaofei 0:4bc34a5fcc29 38 {
Xiaofei 1:13c4bf8989d5 39 _STBY = 1;
Xiaofei 1:13c4bf8989d5 40 _RIGHT_WHEEL.speed(_RIGHT_SPEED);
Xiaofei 1:13c4bf8989d5 41 _LEFT_WHEEL.speed(_LEFT_SPEED);
Xiaofei 0:4bc34a5fcc29 42 }
Xiaofei 0:4bc34a5fcc29 43
Xiaofei 0:4bc34a5fcc29 44 void MoveForwardCommand :: execute()
Xiaofei 0:4bc34a5fcc29 45 {
Xiaofei 1:13c4bf8989d5 46 _STBY = 1;
Xiaofei 1:13c4bf8989d5 47 _RIGHT_WHEEL.speed(0.5);
Xiaofei 1:13c4bf8989d5 48 _LEFT_WHEEL.speed(0.5);
Xiaofei 0:4bc34a5fcc29 49 }
Xiaofei 0:4bc34a5fcc29 50
Xiaofei 0:4bc34a5fcc29 51 void MoveBackwardCommand :: execute()
Xiaofei 0:4bc34a5fcc29 52 {
Xiaofei 1:13c4bf8989d5 53
Xiaofei 1:13c4bf8989d5 54 _STBY = 1;
Xiaofei 1:13c4bf8989d5 55 _RIGHT_WHEEL.speed(_RIGHT_SPEED);
Xiaofei 1:13c4bf8989d5 56 _LEFT_WHEEL.speed(_LEFT_SPEED);
Xiaofei 0:4bc34a5fcc29 57 }
Xiaofei 0:4bc34a5fcc29 58
Xiaofei 0:4bc34a5fcc29 59 void StopCommand :: execute()
Xiaofei 0:4bc34a5fcc29 60 {
Xiaofei 1:13c4bf8989d5 61 _RIGHT_WHEEL.speed(_RIGHT_SPEED);
Xiaofei 1:13c4bf8989d5 62 _LEFT_WHEEL.speed(_LEFT_SPEED);
Xiaofei 0:4bc34a5fcc29 63 }
Xiaofei 0:4bc34a5fcc29 64