Abraham Howell / Apeiros

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Files at this revision

API Documentation at this revision

Revision 3:c61c3feb0729, committed 2014-12-23

Comitter:
abotics
Date:
Tue Dec 23 23:29:00 2014 +0000
Parent:
2:71ede4f26f71
Commit message:
Changed MAX_GRIPPER_PULSE from 2300 to 2200 to ensure that grippers do not interfere with wheels.; ; Added additional explanation regarding valid motor speed range.; ; Added DigitalIn objects in support for leftRearIR and rightRearIR sensors.

Changed in this revision

Apeiros.cpp Show annotated file Show diff for this revision Revisions of this file
Apeiros.h Show annotated file Show diff for this revision Revisions of this file 
--- a/Apeiros.cpp	Tue Dec 16 17:54:27 2014 +0000
+++ b/Apeiros.cpp	Tue Dec 23 23:29:00 2014 +0000
@@ -5,7 +5,7 @@
 // Constructor for Apeiros Class.                  
 //------------------------------------------------------------------------
 Apeiros::Apeiros(PinName tx, PinName rx, int leftMotorPwmOffset, int rightMotorPwmOffset) : Serial(tx,  rx), leftFrontIR(PC_15),centerFrontIR(PC_14),rightFrontIR(PC_13),
-ad_0(PA_0), ad_1(PA_1),ad_2(PA_4),ad_3(PB_0),ad_4(PC_1),ad_5(PC_0),_buzzerOut(PA_5),_SN_3A(PB_5),_SN_4A(PC_7),_SN_2A(PB_3),_SN_1A(PA_8),
+leftRearIR(PA_13), rightRearIR(PA_14),ad_0(PA_0), ad_1(PA_1),ad_2(PA_4),ad_3(PB_0),ad_4(PC_1),ad_5(PC_0),_buzzerOut(PA_5),_SN_3A(PB_5),_SN_4A(PC_7),_SN_2A(PB_3),_SN_1A(PA_8),
 _leftEncoderDirPin(PA_6),_rightEncoderDirPin(PA_7),_leftEncoderClk(PH_1),_rightEncoderClk(PH_0),_rightMotorPWM(PB_10),_leftMotorPWM(PB_4),_gripperPWM(PB_6)
 {   
     // Set direction of PWM dir pins to be low so robot is halted. //
@@ -246,7 +246,7 @@
     switch (tmpRxBuff[0]){
 
        case 'A':
-        printf("Sensors = (%0.2f, %0.2f, %0.2f, %0.2f, %0.2f, %0.2f)\r\n", adSensors[0], adSensors[1], adSensors[2], adSensors[3], adSensors[4], adSensors[5]);
+        printf("Sensors = (%0.3f, %0.3f, %0.3f, %0.3f, %0.3f, %0.3f)\r\n", adSensors[0], adSensors[1], adSensors[2], adSensors[3], adSensors[4], adSensors[5]);
         break;
         
        case 'B':
@@ -255,7 +255,7 @@
         break;
                 
        case 'D':
-        printf("Sensors = (%d, %d, %d)\r\n", leftFrontIR.read(), centerFrontIR.read(), rightFrontIR.read());
+        printf("Sensors = (%d, %d, %d, %d, %d)\r\n", leftFrontIR.read(), centerFrontIR.read(), rightFrontIR.read(),leftRearIR.read(),rightRearIR.read());
         break;
 
        case 'E':

--- a/Apeiros.h	Tue Dec 16 17:54:27 2014 +0000
+++ b/Apeiros.h	Tue Dec 23 23:29:00 2014 +0000
@@ -6,7 +6,7 @@
  * #include "mbed.h"
  * #include "Apeiros.h"
  *
- * Apeiros apeiros(SERIAL_TX, SERIAL_RX, 120, 120);
+ * Apeiros apeiros(SERIAL_TX, SERIAL_RX, 100, 100);
  * 
  * int main() {
  *     apeiros.Begin();
@@ -32,8 +32,10 @@
 #define Ktps ((Cwh * TSCALE * INVTICK) / NCLKS)
 #define MaxMotorSpeed 255
 
+// Hitec HS-81 accepts a 600 to 2400us pulse control signal. //
+// Do not use a value that is outside of the HS-81 specification! //
 #define MIN_GRIPPER_PULSE 1000
-#define MAX_GRIPPER_PULSE 2300
+#define MAX_GRIPPER_PULSE 2200
 
 #define MAX_BUZZER_PWM 100
 
@@ -49,10 +51,17 @@
 
     /** Create Apeiros instance
     *
-    * @param tx specified as PinName of UART Tx pin. Use SERIAL_TX as default.
-    * @param rx specified as PinName of UART Rx pin. Use SERIAL_RX as deafult.
-    * @param leftMotorPwmOffset specified as integer value from 0-150. Use 120 as default.
-    * @param rightMotorPwmOffset specified as integer value from 0-150. Use 120 as default.
+    * @param tx specified as PinName of UART Tx pin. Use SERIAL_TX as default. Use PA_9 for wireless shield.
+    * @param rx specified as PinName of UART Rx pin. Use SERIAL_RX as deafult. Use PA_10 for wireless shield.
+    * @param leftMotorPwmOffset specified as integer value from 0-150. Use 100 as default.
+    * @param rightMotorPwmOffset specified as integer value from 0-150. Use 100 as default.
+    * 
+    * The PwmOffsets are used to eliminate the deadband for both the left & right motor, so
+    * that each motor begins to rotate when motor speeds are specified as aperiros.SetMotorSpeed(1,1).
+    *
+    * Pass a zero for each PwmOffset parameter and then use SetMotorSpeed function to find the leftMotorPwmOffset & rightMotorPwmOffset values.
+    *
+    * You have found the PwmOffset value when the respective motor goes from not rotating to starting rotation.
     */
     Apeiros(PinName tx, PinName rx, int leftMotorPwmOffset, int rightMotorPwmOffset);
     
@@ -80,15 +89,26 @@
      */
     void SetBuzzerTone(int buzzerTone);
     
-    /** Set left and roght motor speeds.
+    /** Set left and right motor speeds.
+     *
+     * @param leftMotorSpeed specified as an integer value(int) from 0 to (255-leftMotorPwmOffset). Use a preceeding negative sign to reverse motor rotation.
+     * @param rightMotorSpeed specified as an integer value(int) from 0 to (255-rightMotorPwmOffset). Use a preceeding negative sign to reverse motor rotation.
+     * 
+     * For example, if leftMotorPwmOffset = 95 then valid left motor speed range is 0 to 165. Use a preceeding negative sign to reverse motor rotation.
      *
-     * @param leftMotorSpeed specified as an integer value(int) from 0-150, rightMotorSpeed specified as an integer value(int) from 0-150.
+     * Drive robot forward with apeiros.SetMotorSpeed(65,65).
+     *
+     * Drive robot in reverse with apeiros.SetMotorSpeed(-65,-65).
+     *
+     * Spin robot clockwise with apeiros.SetMotorSpeed(65,-65).
+     *
+     * Spin robot counterclockwise with apeiros.SetMotorSpeed(-65,65).
      */
     void SetMotorSpeed(int leftMotorSpeed, int rightMotorSpeed);
     
     /** Set servo gripper position.
      *
-     * @param pulseWidth_us specified as an integer value(int) from MIN_GRIPPER_PULSE(1000) to MAX_GRIPPER_PULSE(2300).
+     * @param pulseWidth_us specified as an integer value(int) from MIN_GRIPPER_PULSE(1000) to MAX_GRIPPER_PULSE(2200).
      */
     void SetGripperPosition(int pulseWidth_us);
     
@@ -111,15 +131,54 @@
      */
     void ResetWheelEncoders(void);
     
+    /** DigitalIn object for Left Front IR Sensor.
+     *
+     */
     DigitalIn leftFrontIR;
+    
+    /** DigitalIn object for Center Front IR Sensor.
+     *
+     */
     DigitalIn centerFrontIR;
+    
+    /** DigitalIn object for Right Front IR Sensor.
+     *
+     */
     DigitalIn rightFrontIR;
     
+    /** DigitalIn object for Left Rear IR Sensor.
+     *
+     */
+    DigitalIn leftRearIR;
+    
+    /** DigitalIn object for Right Rear IR Sensor.
+     *
+     */
+    DigitalIn rightRearIR;
+    
+    /** ad_0 AnalogIn object. Used to convert a varying voltage to a digital value.
+     *
+     */
     AnalogIn ad_0;
+    /** ad_1 AnalogIn object. Used to convert a varying voltage to a digital value.
+     *
+     */
     AnalogIn ad_1;
+    /** ad_2 AnalogIn object. Used to convert a varying voltage to a digital value.
+     *
+     */
     AnalogIn ad_2;
+    /** ad_3 AnalogIn object. Used to convert a varying voltage to a digital value.
+     *
+     */
     AnalogIn ad_3;
+    /** ad_4 AnalogIn object. Used to convert a varying voltage to a digital value.
+     *
+     */
     AnalogIn ad_4;
+    /** ad_5 AnalogIn object. Used to convert a varying voltage to a digital value.
+     *
+     */
     AnalogIn ad_5;