Diff: ur_Bertl.cpp

Revision:

12:cedc088eaf05

Parent:

7:e7f74f072564

--- a/ur_Bertl.cpp	Fri Apr 24 09:16:40 2015 +0000
+++ b/ur_Bertl.cpp	Sun Apr 26 20:04:47 2015 +0000
@@ -1,5 +1,5 @@
 /***********************************
-name:   ur_Bertl.cpp    Version: 2.1
+name:   ur_Bertl.cpp    Version: 2.2
 author: PE HTL BULME
 email:  pe@bulme.at
 WIKI:   https://developer.mbed.org/teams/BERTL_CHEL_18/code/ur_Bertl/
@@ -40,16 +40,16 @@
 }
 
 // Pulblic methodes
-void ur_Bertl::Move()
+void ur_Bertl::Move(int move)
 {
     int count = _count;
     MotorR_EN=MotorL_EN=1;                  // both motor ENABLE
     MotorR_FORWARD = MotorL_FORWARD = 1;    // both motor forward ON
 #ifdef TIME
-    wait_ms(MOVE);
+    wait_ms(move);
 #else
 
-    while(_count < count+DISTANCE) {
+    while(_count < count+move) {
         //if(!FrontIsClear())       // more convenient because there are no accidents :-)
           //  break;
 #ifdef FRONTBUTTON
@@ -61,7 +61,8 @@
 #endif
     MotorR_FORWARD = MotorL_FORWARD = 0;    // both motor off
     MotorR_EN=MotorL_EN=0;
-    wait_ms(250);
+    if(move == MOVE)
+        wait_ms(250);
 }
 
 void ur_Bertl::PutBeeper()
@@ -245,22 +246,6 @@
         return 0;
 }
 
-void ur_Bertl::MoveBackwards()
-{
-    int count = _count;
-    //wait_ms(250);                         // waite until Bertl stops
-    MotorR_EN=MotorL_EN=1;                  // both motor ENABLE
-    MotorR_REVERSE = MotorL_REVERSE = 1;    // both motor backwards ON
-    while(_count < count+DISTANCE) {
-        if(!backIsClear())
-            break;
-        DEBUG_PRINT("count: %d _count: %d", count, _count);
-    }
-    MotorR_REVERSE = MotorL_REVERSE = 0;    // both motor off
-    MotorR_EN=MotorL_EN=0;
-    wait_ms(250);
-}
-
 bool ur_Bertl::IsButtonPressed(const int btn)
 {
     char cmd[3];            // array for I2C
@@ -388,3 +373,106 @@
     return _count;
 }
 
+// -------------------- BERTL CLASS -------------------------------------
+void Bertl::MoveBackwards(int move)
+{
+    int count = _count;
+    //wait_ms(250);                         // waite until Bertl stops
+    MotorR_EN=MotorL_EN=1;                  // both motor ENABLE
+    MotorR_REVERSE = MotorL_REVERSE = 1;    // both motor backwards ON
+#ifndef TIME
+    while(_count < count+move) {
+        if(!backIsClear())
+            break;
+        DEBUG_PRINT("count: %d _count: %d", count, _count);
+    }
+#else
+    wait_ms(move);
+#endif
+    MotorR_REVERSE = MotorL_REVERSE = 0;    // both motor off
+    MotorR_EN=MotorL_EN=0;
+    if(move == MOVE)
+        wait_ms(250);
+}
+// ------------------------- BERT CLASS --------------------------------------
+void Bertl::TurnRigth()
+{
+    int count = _count;
+    MotorR_EN=MotorL_EN=1;                  // motor left and right ENABLE
+
+    MotorR_FORWARD = MotorL_REVERSE = 0;
+    MotorL_FORWARD = MotorR_REVERSE = 1;
+#ifdef TIME
+    wait_ms(TURN);
+#else
+
+    while(_count < count+ANGLE) {
+#ifdef FRONTBUTTON
+        if(frontButtonPressed())            // get out if to much problems
+            error();
+#endif
+        DEBUG_PRINT("count: %d _count: %d", count, _count);
+    }
+#endif
+    MotorL_FORWARD = MotorR_REVERSE = 0;
+    MotorR_FORWARD = MotorL_REVERSE = 0;
+    MotorR_EN=MotorL_EN=0;
+    wait_ms(250);           // only to step the robot
+}
+// ------------------------- to adjust turns ---------------------------------
+void Bertl::TurnRigthStep(int step)
+{
+    int count = _count;
+    MotorR_EN=MotorL_EN=1;                  // motor left and right ENABLE
+
+    MotorR_FORWARD = MotorL_REVERSE = 0;
+    MotorL_FORWARD = MotorR_REVERSE = 1;
+    wait_ms(step);
+#ifdef TIME
+#else
+
+    while(_count < count+1) {
+#ifdef FRONTBUTTON
+        if(frontButtonPressed())            // get out if to much problems
+            error();
+#endif
+        DEBUG_PRINT("count: %d _count: %d", count, _count);
+    }
+#endif
+    MotorL_FORWARD = MotorR_REVERSE = 0;
+    MotorR_FORWARD = MotorL_REVERSE = 0;
+    MotorR_EN=MotorL_EN=0;
+//    wait_ms(250);           // only to step the robot
+}
+
+void Bertl::TurnLeftStep(int step)
+{
+    int count = _count;
+    MotorR_EN=MotorL_EN=1;                  // motor left and right ENABLE
+
+    MotorR_FORWARD = MotorL_REVERSE = 1;
+    wait_ms(step);
+
+#ifdef TIME
+#else
+
+    while(_count < count+1) {
+#ifdef FRONTBUTTON
+        if(frontButtonPressed())            // get out if to much problems
+            error();
+#endif
+        DEBUG_PRINT("count: %d _count: %d", count, _count);
+    }
+#endif
+    MotorR_FORWARD = MotorL_REVERSE = 0;
+    MotorR_EN=MotorL_EN=0;
+    //wait_ms(250);           // only to step the robot
+}
+
+uint8_t Bertl::GetLineValues()
+{
+    uint8_t detect;
+    
+    detect = linesensor;
+    return detect;
+}
\ No newline at end of file