Dima Dudin / Mbed 2 deprecated DD_Robot

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Dependencies:   mbed mbed-STM32F103C8T6 MPU6050_1

motion.h@0:e9488589a8ee, 2017-05-02 (annotated)

Committer:
Stas285
Date:
Tue May 02 16:50:18 2017 +0000
Revision:
0:e9488589a8ee
Child:
1:e2a6e523bf1f
debil

Who changed what in which revision?

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