Dr. Pucher / ur_Bertl

Class Bertl added

Dependencies:   HCSR

Dependents:   BertlDrive_V2 BertlDrive_V2

ur_Bertl.h@5:6b667e2cb800, 2015-04-10 (annotated)

Committer:
bulmecisco
Date:
Fri Apr 10 07:12:07 2015 +0000
Revision:
5:6b667e2cb800
Parent:
4:76acfddc26fb
Child:
7:e7f74f072564
Button test added: IsButtonPressed.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bulmecisco 0:66e9a0afcbd6 1 /***********************************
bulmecisco 4:76acfddc26fb 2 name: ur_Bertl.h Version: 2.0
bulmecisco 0:66e9a0afcbd6 3 author: PE HTL BULME
bulmecisco 0:66e9a0afcbd6 4 email: pe@bulme.at
bulmecisco 4:76acfddc26fb 5 WIKI: https://developer.mbed.org/teams/BERTL_CHEL_18/code/ur_Bertl/
bulmecisco 0:66e9a0afcbd6 6 description:
bulmecisco 4:76acfddc26fb 7 Definition portion of the class ur_Bertl The Robot
bulmecisco 4:76acfddc26fb 8 boolean commands added for if/else, while, ...
bulmecisco 0:66e9a0afcbd6 9 ***********************************/
bulmecisco 0:66e9a0afcbd6 10 #include "mbed.h"
bulmecisco 0:66e9a0afcbd6 11
bulmecisco 0:66e9a0afcbd6 12 #ifndef UR_BERTL_H
bulmecisco 0:66e9a0afcbd6 13 #define UR_BERTL_H
bulmecisco 0:66e9a0afcbd6 14
bulmecisco 0:66e9a0afcbd6 15 #define LEFTSENSOR P1_12
bulmecisco 0:66e9a0afcbd6 16 #define RIGHTSENSOR P1_13
bulmecisco 0:66e9a0afcbd6 17 /********************************************//**
bulmecisco 4:76acfddc26fb 18 name: ur_Bertl.h \n
bulmecisco 4:76acfddc26fb 19 version: 2.0 \n
bulmecisco 4:76acfddc26fb 20 author:PE HTL BULME \n
bulmecisco 4:76acfddc26fb 21 email: pe@bulme.at \n
bulmecisco 4:76acfddc26fb 22 WIKI: https://developer.mbed.org/teams/BERTL_CHEL_18/code/ur_Bertl/wiki/Homepage \n
bulmecisco 4:76acfddc26fb 23 description:
bulmecisco 0:66e9a0afcbd6 24 Definition and documentation portion of the class ur_Bertl The Robot.
bulmecisco 0:66e9a0afcbd6 25
bulmecisco 0:66e9a0afcbd6 26 ***********************************************/
bulmecisco 0:66e9a0afcbd6 27 /**
bulmecisco 0:66e9a0afcbd6 28 @code
bulmecisco 0:66e9a0afcbd6 29 //
bulmecisco 0:66e9a0afcbd6 30 @endcode
bulmecisco 0:66e9a0afcbd6 31
bulmecisco 0:66e9a0afcbd6 32 Example motor sensor test:
bulmecisco 0:66e9a0afcbd6 33 @code
bulmecisco 0:66e9a0afcbd6 34 #include "mbed.h"
bulmecisco 0:66e9a0afcbd6 35 #include "ur_Bertl.h"
bulmecisco 0:66e9a0afcbd6 36 #include "const.h"
bulmecisco 0:66e9a0afcbd6 37
bulmecisco 0:66e9a0afcbd6 38 int main()
bulmecisco 0:66e9a0afcbd6 39 {
bulmecisco 0:66e9a0afcbd6 40 ur_Bertl karel(LEFTSENSOR); // RIGHTSENSOR
bulmecisco 0:66e9a0afcbd6 41
bulmecisco 0:66e9a0afcbd6 42 while(true) {
bulmecisco 0:66e9a0afcbd6 43 karel.NibbleLeds(karel.Read());
bulmecisco 0:66e9a0afcbd6 44 }
bulmecisco 0:66e9a0afcbd6 45 }
bulmecisco 0:66e9a0afcbd6 46 @endcode
bulmecisco 0:66e9a0afcbd6 47
bulmecisco 0:66e9a0afcbd6 48 Example moving the robot around:
bulmecisco 0:66e9a0afcbd6 49 @code
bulmecisco 0:66e9a0afcbd6 50 #include "mbed.h"
bulmecisco 0:66e9a0afcbd6 51 #include "ur_Bertl.h"
bulmecisco 0:66e9a0afcbd6 52 #include "const.h"
bulmecisco 0:66e9a0afcbd6 53
bulmecisco 0:66e9a0afcbd6 54 int main()
bulmecisco 0:66e9a0afcbd6 55 {
bulmecisco 0:66e9a0afcbd6 56 ur_Bertl karel;
bulmecisco 0:66e9a0afcbd6 57
bulmecisco 0:66e9a0afcbd6 58 while(karel.WaitUntilButtonPressed()){}
bulmecisco 0:66e9a0afcbd6 59 //karel.Move();
bulmecisco 0:66e9a0afcbd6 60 karel.TurnLeft();
bulmecisco 0:66e9a0afcbd6 61 karel.ShutOff();
bulmecisco 0:66e9a0afcbd6 62 }
bulmecisco 0:66e9a0afcbd6 63 @endcode
bulmecisco 0:66e9a0afcbd6 64
bulmecisco 0:66e9a0afcbd6 65 Example LEDs:
bulmecisco 0:66e9a0afcbd6 66 @code
bulmecisco 0:66e9a0afcbd6 67 #include "mbed.h"
bulmecisco 0:66e9a0afcbd6 68 #include "ur_Bertl.h"
bulmecisco 0:66e9a0afcbd6 69 #include "const.h"
bulmecisco 0:66e9a0afcbd6 70
bulmecisco 0:66e9a0afcbd6 71 int main()
bulmecisco 0:66e9a0afcbd6 72 {
bulmecisco 0:66e9a0afcbd6 73 ur_Bertl karel;
bulmecisco 0:66e9a0afcbd6 74
bulmecisco 0:66e9a0afcbd6 75 while(karel.WaitUntilButtonPressed()){}
bulmecisco 0:66e9a0afcbd6 76
bulmecisco 0:66e9a0afcbd6 77 karel.TurnLedOn(LED_FL1 | LED_FR1); // see const.h
bulmecisco 0:66e9a0afcbd6 78 wait(1);
bulmecisco 0:66e9a0afcbd6 79 karel.TurnLedOn(0xFF); // or use hex
bulmecisco 0:66e9a0afcbd6 80 wait(1);
bulmecisco 0:66e9a0afcbd6 81 karel.RGBLed(1,0,0); // red
bulmecisco 0:66e9a0afcbd6 82 wait(1);
bulmecisco 0:66e9a0afcbd6 83 karel.RGBLed(0,1,0); // green
bulmecisco 0:66e9a0afcbd6 84 wait(1);
bulmecisco 0:66e9a0afcbd6 85 karel.RGBLed(0,0,1); // blue
bulmecisco 0:66e9a0afcbd6 86 karel.BlueLedsON();
bulmecisco 0:66e9a0afcbd6 87 karel.NibbleLeds(karel.Read());
bulmecisco 0:66e9a0afcbd6 88 wait(1);
bulmecisco 0:66e9a0afcbd6 89 karel.BlueLedsOFF();
bulmecisco 0:66e9a0afcbd6 90 karel.TurnLedOff(0xFF);
bulmecisco 0:66e9a0afcbd6 91 karel.ShutOff();
bulmecisco 0:66e9a0afcbd6 92 }
bulmecisco 0:66e9a0afcbd6 93 @endcode
bulmecisco 4:76acfddc26fb 94 Example IF/ELSE Commands (update ur_Bertl 2.0 from https://developer.mbed.org/teams/BERTL_CHEL_18/code/ur_Bertl/
bulmecisco 4:76acfddc26fb 95 @code
bulmecisco 4:76acfddc26fb 96 /* Sorry, but there are Javascript problems with this code
bulmecisco 4:76acfddc26fb 97
bulmecisco 4:76acfddc26fb 98 int main()
bulmecisco 4:76acfddc26fb 99 {
bulmecisco 4:76acfddc26fb 100 ur_Bertl karel;
bulmecisco 4:76acfddc26fb 101
bulmecisco 4:76acfddc26fb 102 while( karel.WaitUntilButtonPressed() ) {}
bulmecisco 4:76acfddc26fb 103 if( karel.NextToABeeper()) {
bulmecisco 4:76acfddc26fb 104 karel.PickBeeper();
bulmecisco 4:76acfddc26fb 105 karel.NibbleLeds(karel.AnyBeeperInBag()); //show number of beepers in bag on 4 yellow Leds
bulmecisco 4:76acfddc26fb 106 }
bulmecisco 4:76acfddc26fb 107 wait(1);
bulmecisco 4:76acfddc26fb 108 if( karel.AnyBeeperInBag() ) {
bulmecisco 4:76acfddc26fb 109 karel.PutBeeper();
bulmecisco 4:76acfddc26fb 110 karel.NibbleLeds(karel.AnyBeeperInBag());
bulmecisco 4:76acfddc26fb 111 }
bulmecisco 4:76acfddc26fb 112 wait(1);
bulmecisco 4:76acfddc26fb 113 if( karel.FrontIsClear() )
bulmecisco 4:76acfddc26fb 114 karel.Move();
bulmecisco 4:76acfddc26fb 115 else
bulmecisco 4:76acfddc26fb 116 karel.TurnLeft();
bulmecisco 4:76acfddc26fb 117
bulmecisco 4:76acfddc26fb 118 karel.ShutOff();
bulmecisco 4:76acfddc26fb 119 }
bulmecisco 4:76acfddc26fb 120
bulmecisco 4:76acfddc26fb 121
bulmecisco 4:76acfddc26fb 122 @endcode
bulmecisco 0:66e9a0afcbd6 123 */
bulmecisco 0:66e9a0afcbd6 124 class ur_Bertl
bulmecisco 0:66e9a0afcbd6 125 {
bulmecisco 0:66e9a0afcbd6 126 protected:
bulmecisco 4:76acfddc26fb 127 int beepersInBag; /**< how many beepers does the robot have in his bag;\n you can show it with: karel.NibbleLeds(karel.AnyBeeperInBag())*/
bulmecisco 0:66e9a0afcbd6 128 char cmd[3]; /**< I2C command */
bulmecisco 0:66e9a0afcbd6 129 int16_t btns; /**< which button is pressed */
bulmecisco 0:66e9a0afcbd6 130 InterruptIn _interrupt; /**< interrupted used*/
bulmecisco 0:66e9a0afcbd6 131 volatile int _count; /**< values of motor sensor*/
bulmecisco 0:66e9a0afcbd6 132
bulmecisco 0:66e9a0afcbd6 133 /**
bulmecisco 0:66e9a0afcbd6 134 protected methodes for internal purposes only
bulmecisco 0:66e9a0afcbd6 135 */
bulmecisco 0:66e9a0afcbd6 136 void increment(); /**< ISR to increment sensor values of motor */
bulmecisco 0:66e9a0afcbd6 137 bool backIsClear(); /**< don't now for what */
bulmecisco 0:66e9a0afcbd6 138 bool frontButtonPressed();/**< TRUE if a a button on the front of Robot is pressed else FALSE */
bulmecisco 4:76acfddc26fb 139 int bottomIsBlack(); /**< check line sensor; returns BCD value */
bulmecisco 0:66e9a0afcbd6 140 void error(); /**< Error: stops the robot and all LEDs are blinking*/
bulmecisco 0:66e9a0afcbd6 141
bulmecisco 0:66e9a0afcbd6 142 public:
bulmecisco 0:66e9a0afcbd6 143 ur_Bertl(); /**< default constructor; you have to define constants in config.h such as SPEED, DISTANCE or ANGLE*/
bulmecisco 0:66e9a0afcbd6 144 ur_Bertl(PinName pin); /**< parameterized constructor; on what pin should the interrupt work; SPEED, DISTANCE or ANGLE have to bee defined in config.h */
bulmecisco 0:66e9a0afcbd6 145
bulmecisco 0:66e9a0afcbd6 146 void Move(); /**< Robot moves one turn as much as the constant DISTANCE; if one of the buttons fire --> Error()*/
bulmecisco 0:66e9a0afcbd6 147 void TurnLeft(); /**< Robot turns left as much as the constant ANGLE*/
bulmecisco 0:66e9a0afcbd6 148 void PutBeeper(); /**< if Robot has any Beepers in his bag he can put one or more Beeper; if not --> Error(()*/
bulmecisco 4:76acfddc26fb 149 void PickBeeper(); /**< if Robot stands on a black item he can pick one or more Beeper (max. 15 --> Error()); if not --> Error()*/
bulmecisco 4:76acfddc26fb 150 void ShutOff(); /**< turnes the robot off */
bulmecisco 4:76acfddc26fb 151 void MoveBackwards(); /**< Robot moves as much back as the constant DISTANCE; if one of the buttons fire --> Error()*/
bulmecisco 4:76acfddc26fb 152 bool WaitUntilButtonPressed(); /**< wait until any button is pressed at the robot */
bulmecisco 1:fafbac0ba96d 153 bool FrontIsClear(); /**< returns a boolean value true if front is free; if not false */
bulmecisco 4:76acfddc26fb 154 bool NextToABeeper(); /**< returns a boolean value true if the robot is on a black place or line; if not --> false */
bulmecisco 5:6b667e2cb800 155 bool IsButtonPressed(const int btn);
bulmecisco 4:76acfddc26fb 156 int AnyBeeperInBag(); /**< returns an int value (if > 0 equal true) how many beepers in bag; if zero --> false */
bulmecisco 4:76acfddc26fb 157 void NibbleLeds(int value); /**< methode for the 4 (half byte) yellow LEDs at the back left side; ie. you can show how many beeper a robot has in his bag with: karel.NibbleLeds(karel.AnyBeeperInBag())*/
bulmecisco 0:66e9a0afcbd6 158 void TurnLedOn(int16_t led);/**< turns the specified one or more LEDs ON; description and name in const.h, such as LED_FL1 = 0x01; front LED white */
bulmecisco 0:66e9a0afcbd6 159 void TurnLedOff(int16_t led);/**< turns the specified one or more LEDs OFF; description and name in const.h, such as LED_FL1 = 0x01; front LED white */
bulmecisco 0:66e9a0afcbd6 160 void RGBLed(bool red, bool green, bool blue); /**<RGB Led with red, green and blue component of the Color */
bulmecisco 0:66e9a0afcbd6 161 void BlueLedsOFF(); /**< OFF all blue LEDs which are on the same Port 1_28 */
bulmecisco 0:66e9a0afcbd6 162 void BlueLedsON(); /**< ON all blue LEDs which are on the same Port 1_28 */
bulmecisco 0:66e9a0afcbd6 163 int Read();
bulmecisco 0:66e9a0afcbd6 164 };
bulmecisco 0:66e9a0afcbd6 165 #endif