Diff: autocar/autocar.cpp

Revision:

12:e95ed962be7a

Child:

13:87cd0ae37e06

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/autocar/autocar.cpp	Sat Jun 30 13:08:00 2018 +0000
@@ -0,0 +1,160 @@
+#include "mbed.h"
+
+#include "autocar.h"
+
+DigitalOut M1_enable(D6);
+DigitalOut M2_enable(D5);
+DigitalOut M1_in1(D3);
+DigitalOut M1_in2(D2);
+DigitalOut M2_in3(D1);
+DigitalOut M2_in4(D0);
+const int MOTOR_M1 = 0;
+const int MOTOR_M2 = 1;
+const int DIR_FORWARD = 0;
+const int DIR_BACKWARD = 1;
+const int PWR_STOP = 0;
+
+// used for IR sensors
+AnalogIn leftIR(A1);
+AnalogIn middleIR(A3);
+AnalogIn rightIR(A5);
+
+// used for output message via serial
+Serial pc(SERIAL_TX, SERIAL_RX);
+
+long map(long x, long in_min, long in_max, long out_min, long out_max)
+{
+    return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
+}
+
+void readIR(bool* left, bool* middle, bool* right, int threshold)
+{
+    // not on track: > 500
+    // on track (black): < 500
+    *left = leftIR.read_u16() < threshold ? true : false;
+    *middle = middleIR.read_u16() < threshold ? true : false;
+    *right = rightIR.read_u16() < threshold ? true : false;
+}
+
+// m: 0 => M1      1 => M2
+// power 0~10     dir: 0=>正向　1=>反向
+void DriveSingleMotor(int m, int speed, int dir)
+{
+    /*int _speed = 0;
+
+    //　設定速度
+    if (speed>10) speed=10;
+    _speed = map(speed, 1, 10, 100, 255);
+
+    if (speed<=0) {
+        speed=0;
+        _speed=0;
+    } else
+        _speed = map(speed, 1, 10, 100, 255);*/
+
+    if (m == MOTOR_M1) {
+        //　設定方向
+        if (speed == PWR_STOP) {
+            M1_in1 = 0;
+            M1_in2 = 0;
+        } else if (dir ==  DIR_FORWARD) {
+            // right wheel go forward
+            M1_in1 = 1;
+            M1_in2 = 0;
+        } else {
+            // right wheel go backward
+            M1_in1 = 0;
+            M1_in2 = 1;
+        }
+        //M1_enable.write_u16(_speed); // 驅動馬達  右輪
+        M1_enable.write(1);
+
+    } else if (m == MOTOR_M2) {
+        //　設定方向
+        if (speed == PWR_STOP) {
+            M2_in3 = 0;
+            M2_in4 = 0;
+        } else if (dir == DIR_FORWARD) {
+            //左輪前進
+            M2_in3 = 1;
+            M2_in4 = 0;
+        } else {
+            //左輪倒轉
+            M2_in3 = 0;
+            M2_in4 = 1;
+        }
+        //M2_enable.write_u16(_speed); // 驅動馬達  左輪
+        M2_enable.write(1);
+    } else {
+        //M1_enable.write_u16(PWR_STOP); // right wheel
+        //M2_enable.write_u16(PWR_STOP); // left wheel
+        M1_enable.write(0);
+        M2_enable.write(0);
+    }
+}
+
+void driveMotor(bool left, bool middle, bool right)
+{
+    int status = left * 4 + middle * 2 + right;
+    switch(status) {
+        case 7: // go straight
+            pc.printf("7. go straight\r\n");
+            forward();
+            break;
+        case 6: // turn left
+            pc.printf("6. turn left\r\n");
+            turnLeft();
+            break;
+        case 5: // go straight
+            pc.printf("5. go straight\r\n");
+            forward();
+            break;
+        case 4: // turn left
+            pc.printf("4. turn left\r\n");
+            turnLeft();
+            break;
+        case 3: // turn right
+            pc.printf("3. turn right\r\n");
+            turnRight();
+            break;
+        case 2: // go straight
+            pc.printf("2. go straight\r\n");
+            forward();
+            break;
+        case 1: // turn right
+            pc.printf("1. turn right\r\n");
+            turnRight();
+            break;
+        case 0: // go straight
+            pc.printf("0. go straight\r\n");
+            forward();
+            break;
+        default:
+            pc.printf("invalid\r\n");
+            break;
+    }
+}
+
+void init()
+{
+    DriveSingleMotor(MOTOR_M1, PWR_STOP, DIR_FORWARD);
+    DriveSingleMotor(MOTOR_M2, PWR_STOP, DIR_FORWARD);
+}
+
+void forward()
+{
+    DriveSingleMotor(MOTOR_M1, 2, DIR_FORWARD);
+    DriveSingleMotor(MOTOR_M2, 2, DIR_FORWARD);
+}
+
+void turnLeft()
+{
+    DriveSingleMotor(MOTOR_M1, PWR_STOP, DIR_FORWARD);
+    DriveSingleMotor(MOTOR_M2, 2, DIR_FORWARD);
+}
+
+void turnRight()
+{
+    DriveSingleMotor(MOTOR_M1, 2, DIR_FORWARD);
+    DriveSingleMotor(MOTOR_M2, PWR_STOP, DIR_FORWARD);
+}
\ No newline at end of file