Revision 18:e9bb4513ae3a, committed 2016-02-19

Comitter:

fpucher

Date:

Fri Feb 19 15:28:42 2016 +0000

Parent:

17:308802267a62

Commit message:

Version 3.2

Changed in this revision

diff -r 308802267a62 -r e9bb4513ae3a Robot.h
--- a/Robot.h	Thu Nov 12 19:05:56 2015 +0000
+++ b/Robot.h	Fri Feb 19 15:28:42 2016 +0000
@@ -14,7 +14,7 @@
 #ifndef ROBOT_H
 #define ROBOT_H
 
-class Robot : public ur_Bertl
+class Robot : public Bertl
 {
 public:
     Robot() {};

diff -r 308802267a62 -r e9bb4513ae3a config.h
--- a/config.h	Thu Nov 12 19:05:56 2015 +0000
+++ b/config.h	Fri Feb 19 15:28:42 2016 +0000
@@ -1,6 +1,6 @@
 /*! \file config.h
 \brief A Documented file.
-* name:   config.h    Version: 3.0 \n
+* name:   config.h    Version: 3.2 \n
 * author: PE HTL BULME \n
 * email:  pe@bulme.at \n
 * description:
@@ -18,7 +18,7 @@
 #define DEBUG 0
 //#define FRONTBUTTON       /**< Error shutoff if Bertl moves against a wall*/
 #define HCSR                /**< if ultrsonic is installed*/
-#define MOTORENC P1_13        /**< P1_12: left encoder P1_13: rigth encoder (motor) */
+#define MOTORENC P1_13        /**< P1_12: left encoder P1_13: right encoder (motor) */
 
 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 */
@@ -43,7 +43,9 @@
 DigitalOut MotorR_REVERSE(P1_4);    // change to P1_3 for Bertl 2015
 
 I2C i2c(p28,p27);   
+// InterruptIn PushButton(P0_8);    // Interrupt I2C Tasten
 BusIn linesensor(p18, p16, p19, p17);  
+BusIn linesensor5(p18, p16, p20, p19, p17); /**<  Bertl15 additonal Sensor in the middle */
 DigitalIn SensorL(P1_12);     /**<  motor sensor left on Port P1_12 */
 DigitalIn SensorR(P1_13);     /**<  motor sensor right on Port P1_13 */
 HCSR04  usensor(p21,p22);     // HC-SR04 ultrasonic sensor

diff -r 308802267a62 -r e9bb4513ae3a const.h
--- a/const.h	Thu Nov 12 19:05:56 2015 +0000
+++ b/const.h	Fri Feb 19 15:28:42 2016 +0000
@@ -1,6 +1,6 @@
 /*! \file const.h
 \brief A Documented file.
-* name:   const.h    Version: 3.0 \n
+* name:   const.h    Version: 3.2 \n
 * author: PE HTL BULME \n
 * email:  pe@bulme.at \n
 * description:
@@ -11,17 +11,17 @@
 #define CONST_H
 #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 */
+const int TURN=500;     /**< ms TurnLeft or TurnRight (nearly 90 degree) */
+const int STEPTIME=20;  /**< ms turn left or right for adjusting moves for TurnLeft or TurnRight */
 
 /*! \var int ULTRASONIC_DISTANCE
 \brief Bertl Ultrasonic Distance Sensor from 1 to n; 5 is ok for nearly 5 cm.
 \warning no warning*/
-const int ULTRASONIC_DISTANCE = 5;    /*  Distance sensor  */
+const int ULTRASONIC_DISTANCE = 6;    /*  Distance sensor  */
 /*! \var int SPEED
 \brief Bertl speed 0.2 (slow) - 1.0 (fast).
 \warning speed below 0.2 possible the motor won't start */
-const float SPEED = 0.4;    /*  Bertl speed 0.2 (slow) - 1.0 (fast) */
+const float SPEED = 0.1;    /*  Bertl speed 0.2 (slow) - 1.0 (fast) */
 /*! \var int DISTANCE
 \brief one wheel turn is appr. 24 ticks.
 \warning maybe the number has to be adjusted */

diff -r 308802267a62 -r e9bb4513ae3a ur_Bertl.cpp
--- a/ur_Bertl.cpp	Thu Nov 12 19:05:56 2015 +0000
+++ b/ur_Bertl.cpp	Fri Feb 19 15:28:42 2016 +0000
@@ -1,5 +1,5 @@
 /***********************************
-name:   ur_Bertl.cpp    Version: 3.0
+name:   ur_Bertl.cpp    Version: 3.2
         class Bertl included
 author: PE HTL BULME
 email:  pe@bulme.at
@@ -437,7 +437,7 @@
     return _count - count;
 }
 
-void Bertl::TurnRigth()
+void Bertl::TurnRight()
 {
     int count = _count;
     MotorR_EN=MotorL_EN=1;                  // motor left and right ENABLE
@@ -462,7 +462,7 @@
     wait_ms(250);           // only to step the robot
 }
 // ------------------------- to adjust turns ---------------------------------
-void Bertl::TurnRigthStep(int step)
+void Bertl::TurnRightStep(int step)
 {
     int count = _count;
     MotorR_EN=MotorL_EN=1;                  // motor left and right ENABLE
@@ -518,6 +518,14 @@
     detect = linesensor;
     return detect;
 }
+// Bertl15: 5 sensors are available
+uint8_t Bertl::GetLineValues5()
+{
+    uint8_t detect;
+    
+    detect = linesensor5;
+    return detect;
+}
 
 void Bertl::RGBLed(bool red, bool green, bool blue)
 {

diff -r 308802267a62 -r e9bb4513ae3a ur_Bertl.h
--- a/ur_Bertl.h	Thu Nov 12 19:05:56 2015 +0000
+++ b/ur_Bertl.h	Fri Feb 19 15:28:42 2016 +0000
@@ -1,12 +1,12 @@
 /***********************************
-name:   ur_Bertl.h      Version: 3.0
+name:   ur_Bertl.h      Version: 3.2
         class Bertl included
 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
-        Step wise turns on left and rigth
+        Step wise turns on left and Right
         int ReturnButtonPressed() added which returns the int value of button pressed 
 ***********************************/
 #include "mbed.h"
@@ -224,7 +224,7 @@
             karel.TurnLeftStep(20);
             break;
         case 0x0E: case 0x0A: case 0x08:
-            karel.TurnRigthStep(20);
+            karel.TurnRightStep(20);
             break;
         default:
             karel.Move(20);
@@ -243,10 +243,11 @@
     //Bertl();                 /**< default constructor; you have to define constants in config.h such as SPEED, DISTANCE or ANGLE*/
     int Move(int move = MOVE);                /**< Robot moves one turn as much as the constant DISTANCE; if one of the buttons fire --> Error()*/      
     int 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 TurnRight();           /**< Robot turns Right 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 */
+    void TurnRightStep(int step=STEPTIME);  /**< Robot turns Right for a short time defined in STEPTIME */
     uint8_t GetLineValues();    /**< in the lower 4 bit are the values of the line sensor */
+    uint8_t GetLineValues5();    /**< Bertl15: lower 5 bit are the values of the line sensor */
     void RGBLed(bool red, bool green, bool blue); /**<RGB Led with red, green and blue component of the Color */
 };
 #endif
\ No newline at end of file