Xiaofei Qiu / Command

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Command.cpp@10:6e32b53f04c3, 2015-11-29 (annotated)

Committer:
Xiaofei
Date:
Sun Nov 29 00:02:54 2015 +0000
Revision:
10:6e32b53f04c3
Parent:
6:bbaabcc5206d
Child:
11:6c56d8ca6e99
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 3:97a5a3744481 18 void Command::setSpeed(const std::int8_t& sp, const std::int8_t& is_negative)
Xiaofei 1:13c4bf8989d5 19 {
Xiaofei 1:13c4bf8989d5 20 _STBY = 1;
Xiaofei 3:97a5a3744481 21 _SPEED = sp * 0.33;
Xiaofei 3:97a5a3744481 22 _IS_NEGATIVE = is_negative;
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 3:97a5a3744481 33 if(_IS_NEGATIVE)
Xiaofei 3:97a5a3744481 34 {
Xiaofei 3:97a5a3744481 35 _RIGHT_WHEEL.speed(-_SPEED);
Xiaofei 6:bbaabcc5206d 36 _LEFT_WHEEL.speed(-_SPEED*0.65);
Xiaofei 3:97a5a3744481 37 }
Xiaofei 3:97a5a3744481 38 else
Xiaofei 3:97a5a3744481 39 {
Xiaofei 3:97a5a3744481 40 _RIGHT_WHEEL.speed(_SPEED);
Xiaofei 6:bbaabcc5206d 41 _LEFT_WHEEL.speed(_SPEED*0.65);
Xiaofei 3:97a5a3744481 42 }
Xiaofei 0:4bc34a5fcc29 43 }
Xiaofei 0:4bc34a5fcc29 44
Xiaofei 0:4bc34a5fcc29 45 void TurnRightCommand :: execute()
Xiaofei 0:4bc34a5fcc29 46 {
Xiaofei 1:13c4bf8989d5 47 _STBY = 1;
Xiaofei 3:97a5a3744481 48 if(_IS_NEGATIVE)
Xiaofei 3:97a5a3744481 49 {
Xiaofei 6:bbaabcc5206d 50 _RIGHT_WHEEL.speed(-_SPEED*0.65);
Xiaofei 3:97a5a3744481 51 _LEFT_WHEEL.speed(-_SPEED);
Xiaofei 3:97a5a3744481 52 }
Xiaofei 3:97a5a3744481 53 else
Xiaofei 3:97a5a3744481 54 {
Xiaofei 6:bbaabcc5206d 55 _RIGHT_WHEEL.speed(_SPEED*0.65);
Xiaofei 3:97a5a3744481 56 _LEFT_WHEEL.speed(_SPEED);
Xiaofei 3:97a5a3744481 57 }
Xiaofei 0:4bc34a5fcc29 58 }
Xiaofei 0:4bc34a5fcc29 59
Xiaofei 10:6e32b53f04c3 60 void GoStraightCommand :: execute()
Xiaofei 10:6e32b53f04c3 61 {
Xiaofei 10:6e32b53f04c3 62 _STBY = 1;
Xiaofei 10:6e32b53f04c3 63 if(_IS_NEGATIVE)
Xiaofei 10:6e32b53f04c3 64 {
Xiaofei 10:6e32b53f04c3 65 _RIGHT_WHEEL.speed(-_SPEED);
Xiaofei 10:6e32b53f04c3 66 _LEFT_WHEEL.speed(-_SPEED);
Xiaofei 10:6e32b53f04c3 67 }
Xiaofei 10:6e32b53f04c3 68 else
Xiaofei 10:6e32b53f04c3 69 {
Xiaofei 10:6e32b53f04c3 70 _RIGHT_WHEEL.speed(_SPEED);
Xiaofei 10:6e32b53f04c3 71 _LEFT_WHEEL.speed(_SPEED);
Xiaofei 10:6e32b53f04c3 72 }
Xiaofei 10:6e32b53f04c3 73 }
Xiaofei 10:6e32b53f04c3 74
Xiaofei 4:3fbe2d75f7eb 75 void StopCommand :: execute()
Xiaofei 4:3fbe2d75f7eb 76 {
Xiaofei 4:3fbe2d75f7eb 77 _RIGHT_WHEEL.speed(0.0);
Xiaofei 4:3fbe2d75f7eb 78 _LEFT_WHEEL.speed(0.0);
Xiaofei 4:3fbe2d75f7eb 79 _STBY = 0;
Xiaofei 0:4bc34a5fcc29 80 }
Xiaofei 0:4bc34a5fcc29 81