Xiaofei Qiu / Command

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Command.cpp@11:6c56d8ca6e99, 2015-11-29 (annotated)

Committer:
Xiaofei
Date:
Sun Nov 29 00:15:41 2015 +0000
Revision:
11:6c56d8ca6e99
Parent:
10:6e32b53f04c3 
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 4:3fbe2d75f7eb 6 Motor _LEFT_WHEEL(p25, p6, p5); // Motor A pwm, fwd, rev
Xiaofei 4:3fbe2d75f7eb 7 Motor _RIGHT_WHEEL(p26, p7, p8); // Motor B pwm, fwd, rev
Xiaofei 3:97a5a3744481 8 DigitalOut _STBY(p12); // 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 3:97a5a3744481 15 Command::Command():_SPEED(0),_IS_NEGATIVE(0)
Xiaofei 1:13c4bf8989d5 16 {}
Xiaofei 1:13c4bf8989d5 17
Xiaofei 11:6c56d8ca6e99 18 #define SENSITIVITY 0.9
Xiaofei 11:6c56d8ca6e99 19
Xiaofei 3:97a5a3744481 20 void Command::setSpeed(const std::int8_t& sp, const std::int8_t& is_negative)
Xiaofei 1:13c4bf8989d5 21 {
Xiaofei 1:13c4bf8989d5 22 _STBY = 1;
Xiaofei 3:97a5a3744481 23 _SPEED = sp * 0.33;
Xiaofei 3:97a5a3744481 24 _IS_NEGATIVE = is_negative;
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 3:97a5a3744481 35 if(_IS_NEGATIVE)
Xiaofei 3:97a5a3744481 36 {
Xiaofei 3:97a5a3744481 37 _RIGHT_WHEEL.speed(-_SPEED);
Xiaofei 11:6c56d8ca6e99 38 _LEFT_WHEEL.speed(-_SPEED*SENSITIVITY);
Xiaofei 3:97a5a3744481 39 }
Xiaofei 3:97a5a3744481 40 else
Xiaofei 3:97a5a3744481 41 {
Xiaofei 3:97a5a3744481 42 _RIGHT_WHEEL.speed(_SPEED);
Xiaofei 11:6c56d8ca6e99 43 _LEFT_WHEEL.speed(_SPEED*SENSITIVITY);
Xiaofei 3:97a5a3744481 44 }
Xiaofei 0:4bc34a5fcc29 45 }
Xiaofei 0:4bc34a5fcc29 46
Xiaofei 0:4bc34a5fcc29 47 void TurnRightCommand :: execute()
Xiaofei 0:4bc34a5fcc29 48 {
Xiaofei 1:13c4bf8989d5 49 _STBY = 1;
Xiaofei 3:97a5a3744481 50 if(_IS_NEGATIVE)
Xiaofei 3:97a5a3744481 51 {
Xiaofei 11:6c56d8ca6e99 52 _RIGHT_WHEEL.speed(-_SPEED*SENSITIVITY);
Xiaofei 3:97a5a3744481 53 _LEFT_WHEEL.speed(-_SPEED);
Xiaofei 3:97a5a3744481 54 }
Xiaofei 3:97a5a3744481 55 else
Xiaofei 3:97a5a3744481 56 {
Xiaofei 11:6c56d8ca6e99 57 _RIGHT_WHEEL.speed(_SPEED*SENSITIVITY);
Xiaofei 3:97a5a3744481 58 _LEFT_WHEEL.speed(_SPEED);
Xiaofei 3:97a5a3744481 59 }
Xiaofei 0:4bc34a5fcc29 60 }
Xiaofei 0:4bc34a5fcc29 61
Xiaofei 10:6e32b53f04c3 62 void GoStraightCommand :: execute()
Xiaofei 10:6e32b53f04c3 63 {
Xiaofei 10:6e32b53f04c3 64 _STBY = 1;
Xiaofei 10:6e32b53f04c3 65 if(_IS_NEGATIVE)
Xiaofei 10:6e32b53f04c3 66 {
Xiaofei 10:6e32b53f04c3 67 _RIGHT_WHEEL.speed(-_SPEED);
Xiaofei 10:6e32b53f04c3 68 _LEFT_WHEEL.speed(-_SPEED);
Xiaofei 10:6e32b53f04c3 69 }
Xiaofei 10:6e32b53f04c3 70 else
Xiaofei 10:6e32b53f04c3 71 {
Xiaofei 10:6e32b53f04c3 72 _RIGHT_WHEEL.speed(_SPEED);
Xiaofei 10:6e32b53f04c3 73 _LEFT_WHEEL.speed(_SPEED);
Xiaofei 10:6e32b53f04c3 74 }
Xiaofei 10:6e32b53f04c3 75 }
Xiaofei 10:6e32b53f04c3 76
Xiaofei 4:3fbe2d75f7eb 77 void StopCommand :: execute()
Xiaofei 4:3fbe2d75f7eb 78 {
Xiaofei 4:3fbe2d75f7eb 79 _RIGHT_WHEEL.speed(0.0);
Xiaofei 4:3fbe2d75f7eb 80 _LEFT_WHEEL.speed(0.0);
Xiaofei 4:3fbe2d75f7eb 81 _STBY = 0;
Xiaofei 0:4bc34a5fcc29 82 }
Xiaofei 0:4bc34a5fcc29 83