Angus McDowall / Mbed 2 deprecated ROCO104_Ultrasound_SPC

pabs

Dependencies:   mbed motor

main.cpp@4:8249fab4d8d3, 2019-02-01 (annotated)

Committer:
martinsimpson
Date:
Fri Feb 01 16:29:52 2019 +0000
Revision:
4:8249fab4d8d3
Parent:
1:3ca91ad8e927
Child:
5:2621fc2ed6da
Base template for ROCO104 first edition

Who changed what in which revision?

UserRevisionLine numberNew contents of line
martinsimpson 0:51c12cc34baf 1 /*
martinsimpson 1:3ca91ad8e927 2 Simple Routine for Nucleo Board for ROCO104 Buggy Motor Control and Microswitches
martinsimpson 1:3ca91ad8e927 3 Heavy edit from previous ROCO103PP code
martinsimpson 1:3ca91ad8e927 4 Motor Class can now be instansiated with all four pins needed to control the H Bridge
martinsimpson 1:3ca91ad8e927 5 with a member functions as follows
martinsimpson 1:3ca91ad8e927 6
martinsimpson 1:3ca91ad8e927 7 Motor::Speed(float A, Float B) range -0.1 to +1.0 to give full reverse to full forward for A/B motors
martinsimpson 1:3ca91ad8e927 8 Motor::Stop() STOP
martinsimpson 1:3ca91ad8e927 9 Motor::Fwd(float) Forward but floating point number (range 0.0 to 1.0)
martinsimpson 1:3ca91ad8e927 10 Motor::Rev(float) Reverse but floating point number (range 0.0 to 1.0)
martinsimpson 1:3ca91ad8e927 11
martinsimpson 0:51c12cc34baf 12 Plymouth University
martinsimpson 0:51c12cc34baf 13 M.Simpson 31st October 2016
martinsimpson 1:3ca91ad8e927 14 Edited 03/02/2017
martinsimpson 1:3ca91ad8e927 15 Edited 06/12/2018
martinsimpson 0:51c12cc34baf 16 */
martinsimpson 0:51c12cc34baf 17 #include "mbed.h"
martinsimpson 0:51c12cc34baf 18 #include "motor.h"
martinsimpson 0:51c12cc34baf 19 #include "tunes.h"
martinsimpson 1:3ca91ad8e927 20
martinsimpson 0:51c12cc34baf 21 #define TIME_PERIOD 2 //Constant compiler Values here 2 equates to 2ms or 500Hz base Frequency
martinsimpson 0:51c12cc34baf 22 #define DUTY 0.9 //DUTY of 1.0=100%, 0.4=40% etc.,
martinsimpson 0:51c12cc34baf 23
martinsimpson 0:51c12cc34baf 24 DigitalIn microswitch1(D4); //Instance of the DigitalIn class called 'microswitch1'
martinsimpson 0:51c12cc34baf 25 DigitalIn microswitch2(D3); //Instance of the DigitalIn class called 'microswitch2'
martinsimpson 0:51c12cc34baf 26
martinsimpson 1:3ca91ad8e927 27 Motor Wheel(D13,D11,D9,D10); //Instance of the Motor Class called 'Wheel' see motor.h and motor.cpp
martinsimpson 0:51c12cc34baf 28
martinsimpson 0:51c12cc34baf 29 DigitalIn myButton(USER_BUTTON); //USER_BUTTON is the Blue Button on the NUCLEO Board
martinsimpson 0:51c12cc34baf 30
martinsimpson 1:3ca91ad8e927 31 DigitalOut led(LED3); //LED1 is the Green LED on the NUCLEO board
martinsimpson 0:51c12cc34baf 32 //N.B. The RED LED is the POWER Indicator
martinsimpson 0:51c12cc34baf 33 //and the Multicoloured LED indicates status of the ST-LINK Programming cycle
martinsimpson 0:51c12cc34baf 34
martinsimpson 0:51c12cc34baf 35 Serial pc(USBTX,USBRX); //Instance of the Serial class to enable much faster BAUD rates then standard 9600 i.e. 115200
martinsimpson 0:51c12cc34baf 36 //This is Pseudo RS232 over USB the NUCLEO will appear as a COMx Port see device Manager on PC used
martinsimpson 0:51c12cc34baf 37 //Use PuTTY to monitor check COMx and BAUD rate (115200)
martinsimpson 0:51c12cc34baf 38
martinsimpson 0:51c12cc34baf 39
martinsimpson 0:51c12cc34baf 40 //Variable 'duty' for programmer to use to vary speed as required set here to #define compiler constant see above
martinsimpson 0:51c12cc34baf 41 float duty=DUTY;
martinsimpson 0:51c12cc34baf 42 //
martinsimpson 0:51c12cc34baf 43 int main ()
martinsimpson 0:51c12cc34baf 44 {
martinsimpson 4:8249fab4d8d3 45 pc.baud(9600); //BAUD Rate to 9600
martinsimpson 1:3ca91ad8e927 46 pc.printf("ROCO104 Demonstration Robot Buggy Plymouth University 2018/19\n\r");
martinsimpson 0:51c12cc34baf 47
martinsimpson 1:3ca91ad8e927 48 Wheel.Period_in_ms(TIME_PERIOD);//Set frequency of the PWMs
martinsimpson 1:3ca91ad8e927 49
martinsimpson 0:51c12cc34baf 50 //
martinsimpson 0:51c12cc34baf 51 //--------------------------- your strategy goes between the two dashed lines ---------------------------------------------
martinsimpson 0:51c12cc34baf 52 //
martinsimpson 1:3ca91ad8e927 53 Wheel.Stop();
martinsimpson 0:51c12cc34baf 54
martinsimpson 1:3ca91ad8e927 55 close_encounter(1); //tune to play Announce start!
martinsimpson 1:3ca91ad8e927 56 //twinkle(1); //see tunes.h for alternatives or make your own!
martinsimpson 1:3ca91ad8e927 57 //jingle_bells(1);
martinsimpson 1:3ca91ad8e927 58
martinsimpson 1:3ca91ad8e927 59 while(myButton==0)
martinsimpson 1:3ca91ad8e927 60 { //Wait here for USER Button (Blue) on Nucleo Board (goes to zero when pressed)
martinsimpson 1:3ca91ad8e927 61 led=0; //and flash green LED whilst waiting
martinsimpson 0:51c12cc34baf 62 wait(0.1);
martinsimpson 0:51c12cc34baf 63 led=1;
martinsimpson 0:51c12cc34baf 64 wait(0.1);
martinsimpson 4:8249fab4d8d3 65 //Test Microswitches with two different tones see tunes.cpp tunes.h or flash (led1 and led2) onboard LEDs
martinsimpson 4:8249fab4d8d3 66
martinsimpson 0:51c12cc34baf 67 }
martinsimpson 0:51c12cc34baf 68
martinsimpson 1:3ca91ad8e927 69 while(true) //Repeat the following forever NB always true!
martinsimpson 0:51c12cc34baf 70 {
martinsimpson 4:8249fab4d8d3 71 // YOUR LINES OF CODE for your stratagy go between HERE! +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
martinsimpson 4:8249fab4d8d3 72 // Remember to use plenty of comments by using:-
martinsimpson 4:8249fab4d8d3 73
martinsimpson 4:8249fab4d8d3 74 // Single line
martinsimpson 0:51c12cc34baf 75
martinsimpson 4:8249fab4d8d3 76 /*
martinsimpson 4:8249fab4d8d3 77 multiple
martinsimpson 4:8249fab4d8d3 78 lines
martinsimpson 4:8249fab4d8d3 79 */
martinsimpson 4:8249fab4d8d3 80
martinsimpson 4:8249fab4d8d3 81
martinsimpson 4:8249fab4d8d3 82
martinsimpson 0:51c12cc34baf 83
martinsimpson 4:8249fab4d8d3 84 // and HERE! +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
martinsimpson 4:8249fab4d8d3 85 } // go back to start of while loop
martinsimpson 4:8249fab4d8d3 86 } //end of int main()
martinsimpson 4:8249fab4d8d3 87
martinsimpson 4:8249fab4d8d3 88
martinsimpson 1:3ca91ad8e927 89
martinsimpson 4:8249fab4d8d3 90 /*
martinsimpson 4:8249fab4d8d3 91 //Consider these lines of code to Accelerate the motors
martinsimpson 4:8249fab4d8d3 92 for (float i=0.5f; i<=1.0f; i+=0.01f) //Accelerate from 50% to 100%
martinsimpson 4:8249fab4d8d3 93 {
martinsimpson 4:8249fab4d8d3 94 Wheel.Speed(i,i);
martinsimpson 4:8249fab4d8d3 95 wait(0.1f);
martinsimpson 4:8249fab4d8d3 96 }
martinsimpson 4:8249fab4d8d3 97 */