Revision 0:51c12cc34baf, committed 2018-02-01

Comitter:

martinsimpson

Date:

Thu Feb 01 12:59:21 2018 +0000

Child:

1:3ca91ad8e927

Commit message:

First Commit

Changed in this revision

--- /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&&microswitch2==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);
+//      }
+*/

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Thu Feb 01 12:59:21 2018 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/7130f322cb7e
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/motor.cpp	Thu Feb 01 12:59:21 2018 +0000
@@ -0,0 +1,20 @@
+#include "motor.h"
+
+Motor::Motor(PinName pinName1, PinName pinName2) : pin1(pinName1), pin2(pinName2)
+{
+}
+void Motor::Fwd(float duty)
+{ 
+    this->pin1 = 0.0f;
+    this->pin2 = duty;
+}
+void Motor::Rev(float duty)
+{
+    this->pin1 = duty;
+    this->pin2 = 0.0f;
+}
+void Motor::Period_in_ms(int msPeriod)
+{
+    this->pin1.period_ms(msPeriod);
+    this->pin2.period_ms(msPeriod);
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/motor.h	Thu Feb 01 12:59:21 2018 +0000
@@ -0,0 +1,15 @@
+#ifndef _MOTOR_H_
+#define _MOTOR_H_
+#include "mbed.h"
+class Motor
+{
+public:
+    Motor(PinName pinName1, PinName pinName2);
+    void Fwd(float time);
+    void Rev(float time);
+    void Period_in_ms(int msPeriod);
+private:
+    PwmOut pin1;
+    PwmOut pin2;
+};
+#endif

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/pwm_tone.cpp	Thu Feb 01 12:59:21 2018 +0000
@@ -0,0 +1,54 @@
+/* Includes ------------------------------------------------------------------*/
+#include "pwm_tone.h"
+
+/* Private typedef -----------------------------------------------------------*/
+/* Private define ------------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+/* Private function prototypes -----------------------------------------------*/
+/* Private functions ---------------------------------------------------------*/
+
+/**
+   * @brief     Tune Function
+   * @param  name : Choose the PwmOut
+                    period : this param is tune value. (C_3...B_5)
+                    beat : this param is beat value. (1..16) 1 means 1/16 beat
+   * @retval    None
+   */
+void Tune(PwmOut name, int period, int beat)
+{  
+    int delay;
+    
+    delay = beat*63;
+    name.period_us(period);
+    name.write(0.50f); // 50% duty cycle
+    wait_ms(delay); // 1 beat
+    //name.period_us(0); // Sound off
+    name=0;
+}
+
+/**
+   * @brief     Auto tunes Function
+   * @param  name : Choose the PwmOut
+                    period : this param is tune value. (C_3...B_5)
+                    beat : this param is beat value. (1..16) 1 means 1/16 beat
+   * @retval    None
+   */
+void Auto_tunes(PwmOut name, int period, int beat)
+{    
+    int delay;
+    
+    delay = beat*63;
+    name.period_us(period);
+    name.write(0.50f); // 50% duty cycle
+    wait_ms(delay);
+}
+
+/**
+   * @brief     Stop tunes Function
+   * @param  name : Choose the PwmOut
+   * @retval    None
+   */
+void Stop_tunes(PwmOut name)
+{
+    name.period_us(0);
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/pwm_tone.h	Thu Feb 01 12:59:21 2018 +0000
@@ -0,0 +1,112 @@
+/* Includes ------------------------------------------------------------------*/
+#include "mbed.h"
+
+/* Private typedef -----------------------------------------------------------*/
+/* Private define ------------------------------------------------------------*/
+/*
+#define Do3  131 //C octave3
+#define Do3s 139 //C#
+#define Re3  147 //D
+#define Re3s 156//D#
+#define Mi3  165 //E
+#define Fa3  175 //F
+#define Fa3s 185 //F#
+#define So3  196 //G
+#define So3s 208 //G#
+#define La3  220 //A
+#define La3s 233 //A#
+#define Ti3  247 //B
+#define Do4  262 //C octave4
+#define Do4s 277 //C#
+#define Re4  294 //D
+#define Re4s 311//D#
+#define Mi4  330 //E
+#define Fa4  349 //F
+#define Fa4s 370 //F#
+#define So4  392 //G
+#define So4s 415 //G#
+#define La4  440 //A
+#define La4s 466 //A#
+#define Ti4  494 //B
+#define Do5  523 //C octave5
+#define Do5s 554 //C#
+#define Re5  587 //D
+#define Re5s 622//D#
+#define Mi5  659 //E
+#define Fa5  699 //F
+#define Fa5s 740 //F#
+#define So5  784 //G
+#define So5s 831 //G#
+#define La5  880 //A
+#define La5s 932 //A#
+#define Ti5  988 //B
+#define Do6  1047 //C octave6
+#define Do6s 1109 //C#
+#define Re6  1175 //D
+#define Re6s 1245 //D#
+#define Mi6  1319 //E
+#define Fa6  1397 //F
+#define Fa6s 1480 //F#
+#define So6  1568 //G
+#define So6s 1661 //G#
+#define La6  1760 //A
+#define La6s 1865 //A#
+#define Ti6  1976 //B
+*/
+#define C3   131 //C octave3
+#define C3s  139 //C#
+#define Dd3  147 //D
+#define D3s  156//D#
+#define E3   165 //E
+#define F3   175 //F
+#define F3s  185 //F#
+#define G3   196 //G
+#define G3s  208 //G#
+#define Aa3  220 //A
+#define A3s  233 //A#
+#define B3   247 //B
+#define C4   262 //C octave4
+#define C4s  277 //C#
+#define Dd4   294 //D
+#define D4s  311//D#
+#define E4   330 //E
+#define F4   349 //F
+#define F4s  370 //F#
+#define G4   392 //G
+#define G4s  415 //G#
+#define Aa4   440 //A
+#define A4s  466 //A#
+#define B4   494 //B
+#define C5   523 //C octave5
+#define C5s  554 //C#
+#define Dd5   587 //D
+#define D5s  622 //D#
+#define E5   659 //E
+#define F5   699 //F
+#define F5s  740 //F#
+#define G5   784 //G
+#define G5s  831 //G#
+#define Aa5   880 //A
+#define A5s  932 //A#
+#define B5   988 //B
+#define C6   1047 //C octave6
+#define C6s  1109 //C#
+#define Dd6   1175 //D
+#define D6s  1245 //D#
+#define E6   1319 //E
+#define F6   1397 //F
+#define F6s  1480 //F#
+#define G6   1568 //G
+#define G6s  1661 //G#
+#define Aa6   1760 //A
+#define A6s  1865 //A#
+#define B6   1976 //B
+
+
+/* Private variables ---------------------------------------------------------*/
+/* Private function prototypes -----------------------------------------------*/
+void Tune(PwmOut name, int period, int beat);
+void Auto_tunes(PwmOut name, int period, int beat);
+void Stop_tunes(PwmOut name);
+        
+/* Private functions ---------------------------------------------------------*/

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tunes.cpp	Thu Feb 01 12:59:21 2018 +0000
@@ -0,0 +1,81 @@
+ #include "mbed.h"
+ #include "pwm_tone.h"
+ #include "motor.h"
+ #define TIME_PERIOD 2             //Constant compiler Values here 2 equates to 2ms or 500Hz base Frequency
+PwmOut buzzer(D5);
+  
+ void tone1(void){
+    Tune(buzzer,1e6/C6,4);
+    buzzer.period_ms(TIME_PERIOD);
+ }
+ 
+void tone2(void){
+    Tune(buzzer,1e6/E6,4);
+    buzzer.period_ms(TIME_PERIOD);
+ }
+
+void close_encounter(int s){
+    Tune(buzzer,1e6/Dd5,s*2); //It's a close encounter of the 3rd kind of!!!
+    Tune(buzzer,1e6/E5,s*2);
+    Tune(buzzer,1e6/C5,s*2);
+    Tune(buzzer,1e6/C4,s*2);
+    Tune(buzzer,1e6/G4,s*4);
+    buzzer.period_ms(TIME_PERIOD);
+ }
+ 
+ void jingle_bells(int s){
+    Tune(buzzer,1e6/E4,s*2); //Jingle Bells!!!
+    Tune(buzzer,1e6/E4,s*2);
+    Tune(buzzer,1e6/E4,s*4);
+  
+    Tune(buzzer,1e6/E4,s*2);
+    Tune(buzzer,1e6/E4,s*2);
+    Tune(buzzer,1e6/E4,s*4);
+    
+    Tune(buzzer,1e6/E4,s*2);
+    Tune(buzzer,1e6/G4,s*2);
+    Tune(buzzer,1e6/C4,s*3);
+    Tune(buzzer,1e6/E4,s*1);
+    
+    Tune(buzzer,1e6/E4,s*8);
+  
+    Tune(buzzer,1e6/F4,s*2);
+    Tune(buzzer,1e6/F4,s*2);
+    Tune(buzzer,1e6/F4,s*3);
+    Tune(buzzer,1e6/F4,s*1);
+    
+    Tune(buzzer,1e6/F4,s*2);
+    Tune(buzzer,1e6/E4,s*2);
+    Tune(buzzer,1e6/E4,s*2);
+    Tune(buzzer,1e6/E4,s*1);
+    Tune(buzzer,1e6/E4,s*1);
+    
+    Tune(buzzer,1e6/E4,s*2);
+    Tune(buzzer,1e6/Dd4,s*2);
+    Tune(buzzer,1e6/Dd4,s*2);
+    Tune(buzzer,1e6/E4,s*2);
+  
+    Tune(buzzer,1e6/Dd4,s*4);
+    Tune(buzzer,1e6/G4,s*4);
+    buzzer.period_ms(TIME_PERIOD);
+  }
+void twinkle(int s){
+    Tune(buzzer,1e6/C4,s*2); //Twinkle Little Star!!!!!
+    Tune(buzzer,1e6/C4,s*2);
+    Tune(buzzer,1e6/G4,s*2);
+    Tune(buzzer,1e6/G4,s*2);
+  
+    Tune(buzzer,1e6/Aa4,s*2);
+    Tune(buzzer,1e6/Aa4,s*2);
+    Tune(buzzer,1e6/G4,s*4);
+    
+    Tune(buzzer,1e6/F4,s*2);
+    Tune(buzzer,1e6/F4,s*2);
+    Tune(buzzer,1e6/E4,s*2);
+    Tune(buzzer,1e6/E4,s*2);
+
+    Tune(buzzer,1e6/Dd4,s*2);
+    Tune(buzzer,1e6/Dd4,s*2);
+    Tune(buzzer,1e6/C4,s*4);
+    buzzer.period_ms(TIME_PERIOD);
+  }

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tunes.h	Thu Feb 01 12:59:21 2018 +0000
@@ -0,0 +1,5 @@
+extern void close_encounter(int s);
+extern void jingle_bells(int s);
+extern void twinkle(int s);
+extern void tone1(void);
+extern void tone2(void);