Moto Sbk / wallbotble

wallbot control Library

Dependencies:   PID

Embed: (wiki syntax)

« Back to documentation index

wallbotble Class Reference
Public Member Functions

wallbotble Class Reference

wallbot ble control class More...

#include <wallbotble.h>

Public Member Functions

 wallbotble ()
 Create the wallbot object connected to the default pins.
void f_sensor_calibrate (void)
 Sensor calibrate.
void left_motor (float duty)
 Directly control the speed and direction of the left motor.
void right_motor (float duty)
 Directly control the speed and direction of the right motor.
void forward (float duty)
 Drive both motors forward as the same speed.
void backward (float duty)
 Drive both motors backward as the same speed.
void left_turn (float duty)
 Drive left motor backwards and right motor forwards at the same speed to turn on the spot.
void right_turn (float duty)
 Drive left motor forward and right motor backwards at the same speed to turn on the spot.
void stop (void)
 Stop both motors.
short GetLinePosition (void)
 ラインの推定値を返す。 左端-1500～中央0～右端1500 一定以上の検出がない場合は前回値から右端、左端と判定
int GetSw (void)
 Get switch .
void set_led (char bit)
 Set status led .
void set_led1 (char bit)
 Set led1 .
void set_led2 (char bit)
 Set led2 .

Detailed Description

wallbot ble control class

Example: 

 // Drive the wwallbot forward, turn left, back, turn right, at half speed for half a second

#include "mbed.h"
#include "wallbotble.h"

wallbotble wb;
 
int main() {

    wb.sensor_calibrate();

    while(!wb.GetSw())
    {
        wb.set_led(wb.GetLinePosition());
    }
    
    wb.forward(1.0);
    wait (1.0);
    wb.left(1.0);
    wait (1.0);
    wb.backward(1.0);
    wait (1.0);
    wb.right(1.0);
    wait (1.0);
    
    wb.stop();

    while(1);

 }

Definition at line 78 of file wallbotble.h.

Constructor & Destructor Documentation

wallbotble (  )

Create the wallbot object connected to the default pins.

Definition at line 31 of file wallbotble.cpp.

Member Function Documentation

void backward ( float  duty )

Drive both motors backward as the same speed.

Parameters:
speedA normalised number 0 - 1.0 represents the full range.

Definition at line 211 of file wallbotble.cpp.

void f_sensor_calibrate ( void   )

Sensor calibrate.

センサ値を10回読み込み、最大値と最小値を取得する センサ毎にライン→ライン外で2回この関数を呼ぶイメージ

Definition at line 269 of file wallbotble.cpp.

void forward ( float  duty )

Drive both motors forward as the same speed.

Parameters:
speedA normalised number 0 - 1.0 represents the full range.

Definition at line 206 of file wallbotble.cpp.

short GetLinePosition ( void   )

ラインの推定値を返す。 左端-1500～中央0～右端1500 一定以上の検出がない場合は前回値から右端、左端と判定

Definition at line 307 of file wallbotble.cpp.

int GetSw ( void   )

Get switch .

(switch OFF:0 or ON:1 return.)

Definition at line 376 of file wallbotble.cpp.

void left_motor ( float  duty )

Directly control the speed and direction of the left motor.

Parameters:
speedA normalised number -1.0 - 1.0 represents the full range.

Definition at line 198 of file wallbotble.cpp.

void left_turn ( float  duty )

Drive left motor backwards and right motor forwards at the same speed to turn on the spot.

Parameters:
speedA normalised number 0 - 1.0 represents the full range.

Definition at line 216 of file wallbotble.cpp.

void right_motor ( float  duty )

Directly control the speed and direction of the right motor.

Parameters:
speedA normalised number -1.0 - 1.0 represents the full range.

Definition at line 202 of file wallbotble.cpp.

void right_turn ( float  duty )

Drive left motor forward and right motor backwards at the same speed to turn on the spot.

Parameters:
speedA normalised number 0 - 1.0 represents the full range.

Definition at line 221 of file wallbotble.cpp.

void set_led ( char  bit )

Set status led .

Parameters:
led(bit0:LEFT bit2:RIGHT)

Definition at line 231 of file wallbotble.cpp.

void set_led1 ( char  bit )

Set led1 .

Parameters:
led(0:off,1:on)

Definition at line 236 of file wallbotble.cpp.

void set_led2 ( char  bit )

Set led2 .

Parameters:
led(0:off,1:on)

Definition at line 250 of file wallbotble.cpp.

void stop ( void   )

Stop both motors.

Definition at line 226 of file wallbotble.cpp.

Generated on Mon Aug 22 2022 09:01:58 by  doxygen 1.7.2