Revision 12:cedc088eaf05, committed 2015-04-26

Comitter:

bulmecisco

Date:

Sun Apr 26 20:04:47 2015 +0000

Parent:

11:155ce3832f01

Commit message:

Class Bertl with additional Methodes added

Changed in this revision

--- a/Robot.h	Fri Apr 24 09:16:40 2015 +0000
+++ b/Robot.h	Sun Apr 26 20:04:47 2015 +0000
@@ -1,5 +1,5 @@
 /***********************************
-name:   Robot.h      Version: 0.1
+name:   Robot.h      Version: 1.0
 author: PE HTL BULME
 email:  pe@bulme.at
 WIKI:   https://developer.mbed.org/teams/BERTL_CHEL_18/code/ur_Bertl/

--- a/config.h	Fri Apr 24 09:16:40 2015 +0000
+++ b/config.h	Sun Apr 26 20:04:47 2015 +0000
@@ -16,10 +16,10 @@
 /*! \def DEBUG
 \brief Turns debugging infos off (0) and on (3) which are send to serial pc.uart */
 #define DEBUG 0
-#define FRONTBUTTON     /**< Error shutoff if Bertl moves against a wall*/
+//#define FRONTBUTTON     /**< Error shutoff if Bertl moves against a wall*/
 #define HCSR            /**< if ultrsonic is installed*/
 
-BusOut NibbleLEDs(P1_8, P1_9, P1_10, P1_11);   /**< 4 yellow LEDs as a bus defined */
+BusOut NibbleLEDs(P1_8, P1_9, P1_10, P1_11);   /**< 4 yellow LEDs as a bus defined; use it i.e.: karel.NibbleLeds(karel.GetLineValues()); to show line sensor values */
 DigitalOut LED_D10(P1_8);    /**<  wiring first LED_D10 */
 DigitalOut LED_D11(P1_9);    /**<  wiring second LED_D11 */
 DigitalOut LED_D12(P1_10);   /**<  wiring thired LED_D12 */

--- a/const.h	Fri Apr 24 09:16:40 2015 +0000
+++ b/const.h	Sun Apr 26 20:04:47 2015 +0000
@@ -1,6 +1,6 @@
 /*! \file const.h
 \brief A Documented file.
-* name:   const.h    Version: 2.0 \n
+* name:   const.h    Version: 2.2 \n
 * author: PE HTL BULME \n
 * email:  pe@bulme.at \n
 * description:
@@ -9,9 +9,10 @@
 */
 #ifndef CONST_H
 #define CONST_H
-#define TIME
-const int MOVE=500;
-const int TURN=300; 
+#define TIME  /**< if defined Bertl uses the time and not motor encoder*/
+const int MOVE=500;     /**< ms move forward or backward */
+const int TURN=500;     /**< ms TurnLeft or TurnRigth (nearly 90 degree) */
+const int STEPTIME=20;  /**< ms turn left or right for adjusting moves for TurnLeft or TurnRigth */
 
 /*! \var int ULTRASONIC_DISTANCE
 \brief Bertl Ultrasonic Distance Sensor from 1 to n; 5 is ok for nearly 5 cm.
@@ -28,7 +29,7 @@
 /*! \var int ANGLE
 \brief 12 is nearly 90 degree turn left.
 \warning maybe the number has to be adjusted */
-const int ANGLE = 4;      /*  nearly 90 degree turn left */
+const int ANGLE = 12;      /*  nearly 90 degree turn left */
 
 const int BTN_FLL = 0x80;   //  button front left outer 
 const int BTN_FL  = 0x04;   // button front left

--- 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

--- a/ur_Bertl.h	Fri Apr 24 09:16:40 2015 +0000
+++ b/ur_Bertl.h	Sun Apr 26 20:04:47 2015 +0000
@@ -1,14 +1,15 @@
 /***********************************
-name:   ur_Bertl.h      Version: 2.1
+name:   ur_Bertl.h      Version: 2.2
 author: PE HTL BULME
 email:  pe@bulme.at
 WIKI:   https://developer.mbed.org/teams/BERTL_CHEL_18/code/ur_Bertl/
 description:
         Definition portion of the class ur_Bertl The Robot
-        boolean commands added for if/else, while, ...
+        Step wise turns on left and rigth
         int ReturnButtonPressed() added which returns the int value of button pressed 
 ***********************************/
 #include "mbed.h"
+#include "const.h"
 
 #ifndef UR_BERTL_H
 #define UR_BERTL_H
@@ -17,7 +18,7 @@
 #define RIGHTSENSOR P1_13
 /********************************************//**
  name:   ur_Bertl.h \n
- version: 2.0 \n
+ version: 2.2 \n
  author:PE HTL BULME \n
  email: pe@bulme.at \n
  WIKI:  https://developer.mbed.org/teams/BERTL_CHEL_18/code/ur_Bertl/wiki/Homepage \n
@@ -94,7 +95,7 @@
 @endcode
 Example IF/ELSE Commands (update ur_Bertl 2.0 from https://developer.mbed.org/teams/BERTL_CHEL_18/code/ur_Bertl/
 @code
-/* Sorry, but there are Javascript problems with this code
+/*Sorry, but there are Javascript problems with this code
 
 int main()
 {
@@ -144,12 +145,12 @@
     ur_Bertl();                 /**< default constructor; you have to define constants in config.h such as SPEED, DISTANCE or ANGLE*/
     ur_Bertl(PinName pin);      /**< parameterized constructor; on what pin should the interrupt work; SPEED, DISTANCE or ANGLE have to bee defined in config.h */
 
-    void Move();                /**< Robot moves one turn as much as the constant DISTANCE; if one of the buttons fire --> Error()*/      
+    //void Move();                /**< Robot moves one turn as much as the constant DISTANCE; if one of the buttons fire --> Error()*/      
+    void Move(int move = MOVE);                /**< Robot moves one turn as much as the constant DISTANCE; if one of the buttons fire --> Error()*/      
     void TurnLeft();            /**< Robot turns left as much as the constant ANGLE*/      
     void PutBeeper();           /**< if Robot has any Beepers in his bag he can put one or more Beeper; if not --> Error(()*/  
     void PickBeeper();          /**< if Robot stands on a black item he can pick one or more Beeper (max. 15 --> Error()); if not --> Error()*/   
     void ShutOff();             /**<  turnes the robot off */
-    void MoveBackwards();       /**< Robot moves as much back as the constant DISTANCE; if one of the buttons fire --> Error()*/
     bool WaitUntilButtonPressed();  /**< wait until any button is pressed at the robot */
     bool FrontIsClear();        /**< returns a boolean value true if front is free; if not false */ 
     bool NextToABeeper();       /**< returns a boolean value true if the robot is on a black place or line; if not --> false */ 
@@ -164,4 +165,81 @@
     void BlueLedsON();          /**< ON all blue LEDs which are on the same Port 1_28 */   
     int Read();
 };
+/********************************************//**
+ name:   Bertl.h \n
+ version: 1.0 \n
+ author:PE HTL BULME \n
+ email: pe@bulme.at \n
+ WIKI:  https://developer.mbed.org/teams/BERTL_CHEL_18/code/ur_Bertl/wiki/Homepage \n
+ description: 
+    Definition and documentation portion of the class Bertl The Robot.
+   
+***********************************************/
+
+/** 
+@code
+//
+@endcode
+
+Example motor sensor test:
+@code
+#include "mbed.h"
+#include "ur_Bertl.h"
+#include "const.h"
+ 
+int main()
+{
+    ur_Bertl karel(LEFTSENSOR);  // RIGHTSENSOR
+
+    while(true) {
+        karel.NibbleLeds(karel.Read());
+    }
+}
+@endcode
+
+Example follow a line:
+@code
+#include "mbed.h"
+#include "ur_Bertl.h"
+#include "const.h"
+
+int main()
+{
+    Bertl karel;
+    
+    while(karel.WaitUntilButtonPressed())
+    {
+        karel.NibbleLeds(karel.GetLineValues());
+        switch(karel.GetLineValues())
+        {
+        case 0x00:
+            karel.TurnLeftStep(50);
+            break;
+        case 0x03: case 0x01: case 0x07:
+            karel.TurnLeftStep(20);
+            break;
+        case 0x0E: case 0x0A: case 0x08:
+            karel.TurnRigthStep(20);
+            break;
+        default:
+            karel.Move(20);
+            break;
+        }
+        if(!karel.FrontIsClear())
+            karel.TurnLeftStep(1000);
+    }
+}
+@endcode
+*/
+class Bertl : public ur_Bertl
+{
+protected:
+public:
+    //Bertl();                 /**< default constructor; you have to define constants in config.h such as SPEED, DISTANCE or ANGLE*/
+    void MoveBackwards(int move = MOVE);       /**< Robot moves as much back as the constant DISTANCE; if one of the buttons fire --> Error()*/
+    void TurnRigth();           /**< Robot turns rigth as much as the constant ANGLE*/ 
+    void TurnLeftStep(int step=STEPTIME);   /**< Robot turns left for a short time defined in STEPTIME */
+    void TurnRigthStep(int step=STEPTIME);  /**< Robot turns rigth for a short time defined in STEPTIME */
+    uint8_t GetLineValues();    /**< in the lower 4 bit are the values of the line sensor */
+};
 #endif
\ No newline at end of file