Angus McDowall
pabs
Diff: main.cpp
- Revision:
- 0:51c12cc34baf
- Child:
- 1:3ca91ad8e927
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Feb 01 12:59:21 2018 +0000
@@ -0,0 +1,146 @@
+/*
+Simple Routine for Nucleo Board for ROCO103PP Buggy Motor COntrol and Microswitches
+Plymouth University
+M.Simpson 31st October 2016
+Editted 03/02/2017
+*/
+#include "mbed.h"
+#include "motor.h"
+#include "tunes.h"
+#define TIME_PERIOD 2 //Constant compiler Values here 2 equates to 2ms or 500Hz base Frequency
+#define DUTY 0.9 //DUTY of 1.0=100%, 0.4=40% etc.,
+
+DigitalIn microswitch1(D4); //Instance of the DigitalIn class called 'microswitch1'
+DigitalIn microswitch2(D3); //Instance of the DigitalIn class called 'microswitch2'
+
+Motor motor_A(D7,D8); //Instances of the Motor Class see motor.h anf motor.cpp
+Motor motor_B(D9,D10); //They must be connected to these ports D7,D8 & D9,D10
+
+DigitalIn myButton(USER_BUTTON); //USER_BUTTON is the Blue Button on the NUCLEO Board
+
+DigitalOut led(LED1); //LED1 is the Green LED on the NUCLEO board
+ //N.B. The RED LED is the POWER Indicator
+ //and the Multicoloured LED indicates status of the ST-LINK Programming cycle
+
+Serial pc(USBTX,USBRX); //Instance of the Serial class to enable much faster BAUD rates then standard 9600 i.e. 115200
+ //This is Pseudo RS232 over USB the NUCLEO will appear as a COMx Port see device Manager on PC used
+ //Use PuTTY to monitor check COMx and BAUD rate (115200)
+
+//The Following line is a Function Prototype
+int motor(float speedA, float speedB); //call as motor('Speed of MotorA Left','Speed of MotorB Right')
+ //Where speed ranges from -1.0 to +1.0 inclusive rto give full reverse to full forward
+ //And of course 0.0 will stop the Motor
+
+//Variable 'duty' for programmer to use to vary speed as required set here to #define compiler constant see above
+float duty=DUTY;
+//
+int main ()
+{
+ pc.baud(115200); //BAUD Rate to 115200
+ pc.printf("ROCO103PP Demonstration Robot Buggy Plymouth University 2016/17\n\r");
+
+ motor_A.Period_in_ms(TIME_PERIOD); //Set frequency of the PWMs
+ motor_B.Period_in_ms(TIME_PERIOD);
+ //
+ //--------------------------- your strategy goes between the two dashed lines ---------------------------------------------
+ //
+ motor(0.0f,0.0f); // Ensure Motors are stopped - For the curious, this function is defined at the end of this file.
+
+ close_encounter(1); //tune to play Announce start!
+ //twinkle(1); //see tunes.h for alternatives or make your own!
+ //jingle_bells(1);
+ while(myButton==1)
+ { //Wait here for USER Button (Blue) on Nucleo Board (goes to zero when pressed)
+ led=0; //and flash green LED whilst waiting
+ wait(0.1);
+ led=1;
+ wait(0.1);
+ if(microswitch1==1)
+ {
+ pc.printf("Switch1 = %4.2fV\n\r",(float)microswitch1*3.3f);//printing value of microswitch1 in PuTTy window on PC
+ //NB this is a Digital Input and so returns a Boolean 1 or 0
+ //and so 'cast' the result into a 'float' type and multiply by 3.3!
+ // see the instruction doc on how to install putty.
+ tone1();
+ }
+ //Test Microswitches with two different tones see tunes.cpp tunes.h
+ if(microswitch2==1)
+ {
+ pc.printf("Switch 2 pressed\n\r"); //Another example of how to print a message telling about the program workings.
+ tone2();
+ }
+ }
+
+ while(true) //Repeat the following forever
+ {
+ motor(duty,duty); //Start Moving forward
+
+ while(microswitch1==0&µswitch2==0){wait(0.05);} //short delay for debounce/noise
+
+ motor(0,0); //STOP Motors
+ wait(0.1); //Allow time for motors to stop
+
+ if(microswitch1==1) //Execute the following code if microswitch1 is activated
+ {
+ motor(0.0f,0.0f); //Stop the Motors
+ tone1();
+ motor(-duty,-duty);
+ wait(2.0f);
+ motor(0,0);
+ wait(1.0f);
+ motor(-duty,duty);
+ wait(2.0f);
+ motor(0,0);
+ wait(1.0f);
+ }
+
+ if(microswitch2==1) //Execute the following code if microswitch2 is activated
+ {
+ motor(0.0f,0.0f); //Stop the Motors
+ tone2();
+ motor(-duty,-duty);
+ wait(2.0f);
+ motor(0,0);
+ wait(1.0f);
+ motor(duty,-duty);
+ wait(2.0f);
+ motor(0,0);
+ wait(1.0f);
+ }
+ }
+}
+//
+//----------------------------------------------------------------------------------------------
+//
+
+//Small function to control motors use as motor(1.0,-0.5) Motor A full speed forward Motor B half speed reversed
+int motor(float speedA, float speedB){
+ if(speedA>1.0f||speedA<-1.0f){ //CHECK speedA Value is in Range!
+ return -1; //return ERROR code -1=speedA Value out of range! EXIT Function
+ }
+ if(speedB>1.0f||speedA<-1.0f){ //CHECK speedB Value is in Range!
+ return -2; //return ERROR code -2=speedB Value out of range! EXIT Function
+ }
+ //If speed values have passed the checks above then the following code will be executed
+ if(speedA<0.0f){
+ motor_A.Rev(-speedA);
+ }
+ else{
+ motor_A.Fwd(speedA);
+ }
+ if(speedB<0.0f){
+ motor_B.Rev(-speedB);
+ }
+ else{
+ motor_B.Fwd(speedB);
+ }
+ return 0; //Return ERROR code Zero i.e. NO ERROR success!
+}
+
+/* //Consider these lines of code to Accelerate the motors
+// for (float i=0.5f; i<=1.0f; i+=0.01f) //Accelerate from 50% to 100%
+// {
+// motor(i,i);
+// wait(0.1f);
+// }
+*/