Dima Dudin / Mbed 2 deprecated DD_Robot

svoe

Dependencies:   mbed mbed-STM32F103C8T6 MPU6050_1

motion.h@6:6e89cdc3db92, 2017-05-21 (annotated)

Committer:
Stas285
Date:
Sun May 21 12:04:00 2017 +0000
Revision:
6:6e89cdc3db92
Parent:
4:904b737ef08a
Child:
7:9e4a997ad23a
Child:
8:891e4f54e9e2
prelim

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Stas285 6:6e89cdc3db92 1 //3 main parameters of the movement:
Stas285 6:6e89cdc3db92 2 //float accel (defined in motor.h)
Stas285 6:6e89cdc3db92 3 float speed = 100;//cm/s
Stas285 6:6e89cdc3db92 4 float radius = 10;
Stas285 6:6e89cdc3db92 5
Stas285 0:e9488589a8ee 6 float half_width = 8.5;
Stas285 4:904b737ef08a 7 float current_x, current_y;
Stas285 4:904b737ef08a 8 float current_path, target_path;//cm
Stas285 4:904b737ef08a 9 float current_angle, target_angle;//deg
Stas285 0:e9488589a8ee 10 float old_path = 0;
Stas285 0:e9488589a8ee 11 float old_angle = 0;
Stas285 0:e9488589a8ee 12 bool volatile motor_busy;
Stas285 4:904b737ef08a 13 bool path_dir, angle_dir;
Stas285 0:e9488589a8ee 14 bool angle_task;//1 - angle, 0 - path
Stas285 0:e9488589a8ee 15 bool stop_flag = 0;
Stas285 1:e2a6e523bf1f 16 bool infinite_flag = 0;
Stas285 0:e9488589a8ee 17
Stas285 0:e9488589a8ee 18 //Timer trap_timer;
Stas285 0:e9488589a8ee 19
Stas285 0:e9488589a8ee 20 void motion_init(){
Stas285 0:e9488589a8ee 21 //trap_timer.start();
Stas285 0:e9488589a8ee 22 }
Stas285 0:e9488589a8ee 23
Stas285 0:e9488589a8ee 24 void go(int cm, bool brake = 1){
Stas285 0:e9488589a8ee 25 if(cm != 0) {
Stas285 1:e2a6e523bf1f 26 stop_flag = 0; infinite_flag = 0;
Stas285 0:e9488589a8ee 27 motor_enable = 1;
Stas285 0:e9488589a8ee 28 target_path =old_path + cm; old_path = target_path;
Stas285 0:e9488589a8ee 29 if(cm > 0) path_dir = 1; else path_dir = 0;
Stas285 0:e9488589a8ee 30 angle_task = 0;
Stas285 0:e9488589a8ee 31 motor_busy = 1;
Stas285 0:e9488589a8ee 32 while(motor_busy == 1){proc_counter++;}
Stas285 0:e9488589a8ee 33 }
Stas285 0:e9488589a8ee 34 }
Stas285 0:e9488589a8ee 35
Stas285 0:e9488589a8ee 36 void turn(int deg, bool brake = 1){
Stas285 0:e9488589a8ee 37 if(deg != 0) {
Stas285 1:e2a6e523bf1f 38 stop_flag = 0; infinite_flag = 0;
Stas285 0:e9488589a8ee 39 motor_enable = 1;
Stas285 0:e9488589a8ee 40 target_angle = old_angle + deg; old_angle = target_angle;
Stas285 0:e9488589a8ee 41 if(deg > 0) angle_dir = 1; else angle_dir = 0;
Stas285 0:e9488589a8ee 42 angle_task = 1;
Stas285 0:e9488589a8ee 43 motor_busy = 1;
Stas285 0:e9488589a8ee 44 while(motor_busy == 1){proc_counter++;}
Stas285 0:e9488589a8ee 45 old_path = current_path;
Stas285 0:e9488589a8ee 46 }
Stas285 0:e9488589a8ee 47 }
Stas285 0:e9488589a8ee 48
Stas285 0:e9488589a8ee 49 void stop(){
Stas285 0:e9488589a8ee 50 motor_enable = 1;
Stas285 0:e9488589a8ee 51 stop_flag = 1;
Stas285 0:e9488589a8ee 52 motor_busy = 1;
Stas285 0:e9488589a8ee 53 while(motor_busy == 1){}
Stas285 6:6e89cdc3db92 54 target_path = current_path;
Stas285 4:904b737ef08a 55 //motor_enable = 0;
Stas285 0:e9488589a8ee 56 }
Stas285 0:e9488589a8ee 57
Stas285 0:e9488589a8ee 58 void dance(float dance_speed,float dance_accel){
Stas285 0:e9488589a8ee 59 speed = dance_speed;
Stas285 0:e9488589a8ee 60 accel=dance_accel;
Stas285 0:e9488589a8ee 61 radius=20;
Stas285 0:e9488589a8ee 62
Stas285 0:e9488589a8ee 63 go(25);
Stas285 0:e9488589a8ee 64 go(-50);
Stas285 0:e9488589a8ee 65 go(25);
Stas285 0:e9488589a8ee 66 turn(90);
Stas285 0:e9488589a8ee 67 speed = -dance_speed;
Stas285 0:e9488589a8ee 68 turn(-180);
Stas285 0:e9488589a8ee 69 speed = dance_speed;
Stas285 0:e9488589a8ee 70 turn(90);
Stas285 0:e9488589a8ee 71 turn(-360);
Stas285 0:e9488589a8ee 72 turn(360);
Stas285 0:e9488589a8ee 73
Stas285 0:e9488589a8ee 74 go(20);
Stas285 0:e9488589a8ee 75 speed = -dance_speed;
Stas285 0:e9488589a8ee 76 turn(-90);
Stas285 0:e9488589a8ee 77 speed = dance_speed;
Stas285 0:e9488589a8ee 78 turn(-90);
Stas285 0:e9488589a8ee 79 speed = -dance_speed;
Stas285 0:e9488589a8ee 80 turn(-90);
Stas285 0:e9488589a8ee 81 speed = dance_speed;
Stas285 0:e9488589a8ee 82 turn(-90);
Stas285 0:e9488589a8ee 83 go(-20);
Stas285 0:e9488589a8ee 84
Stas285 0:e9488589a8ee 85 radius =0;
Stas285 0:e9488589a8ee 86 turn(720);
Stas285 0:e9488589a8ee 87 turn(-720);
Stas285 0:e9488589a8ee 88 }