First import from throwbot
robot.cpp
- Committer:
- Throwbot
- Date:
- 2014-10-05
- Revision:
- 0:b74b6d70347d
File content as of revision 0:b74b6d70347d:
/* mbed ROBOT Library, for SUTD evobot project, Generation 1 * Copyright (c) 2013, SUTD * Author: Mark VanderMeulen * Modified: Mayuran Saravanapavanantham (this code used for STARS) * * April 22, 2013 */ #include "robot.h" #include "math.h" //*********************************CONSTRUCTOR*********************************// //*********************************CONSTRUCTOR*********************************// HC05 bt(tx_bt,rx_bt,EN_BT); //QEI wheel (PTA16, PTA17, NC, 24); QEI left (PTA16, PTA17, NC, 150, QEI::X4_ENCODING); QEI right (PTA14, PTA13, NC, 150, QEI::X4_ENCODING); //Serial bt(rx_bt,tx_bt); //MPU6050 mpu(PTE0, PTE1); DigitalOut myled(myledd); DigitalOut key(PTA15); DigitalOut btSwitch(EN_BT); //AnalogIn currentSensor(CURRENTSENSOR_PIN); DigitalOut buzzer(buzz); AnalogIn LDRsensor1(LDR1); AnalogIn LDRsensor2(LDR2); //AnalogIn voltageSensor(VOLTAGESENSOR_PIN); //PwmOut buzzer(buzz); PwmOut PWMA(MOT_PWMA_PIN); PwmOut PWMB(MOT_PWMB_PIN); DigitalOut AIN1(MOT_AIN1_PIN); DigitalOut AIN2(MOT_AIN2_PIN); DigitalOut BIN1(MOT_BIN1_PIN); DigitalOut BIN2(MOT_BIN2_PIN); DigitalOut STBY(MOT_STBY_PIN); int rMotor = -1; int lMotor = -1; int m_speed = 100; int speed; Mutex stdio_mutex; int freq=0; /* double target_angle=0; double rz; //Direction robot is facing double Irz; //integral of the rotation offset from target. (Optionally) Used for PID control of direction double angle_origin; //Angle of origin (can be changed later, or set if robot starts at known angle) bool AUTO_ORIENT; //if this flag is 1, the robot automatically orients itself to selected direction bool REMOTE_CONTROL; //if this flag is 1, the robot will be controlled over bluetooth int acc[3]; int gyr[3]; bool MPU_OK; double timeNext; int speed; int accdata[3]; //data from accelerometer (raw) int gyrodata[3]; //data from gyro (raw) //double gyroCorrect; //= 3720; //divide by this to get gyro data in RAD/SECOND. This is above as a #DEFINE int gyroOffset[3]; //Correction value for each gyroscope to zero the values. int accOffset[3]; //correction value for each accelerometer double dx = 0; //The current displacement in the x-axis (side-side) double dy = 0; //The current displacement in the y-axis (forward-back) double dz = 0; //The current displacement in the z-axis (up-down) double origin = 0; int freq=0; */ void initRobot() { key = 0; //btSwitch = 1; bt.start(); myled = 0; wait_ms(500); bt.baud(BaudRate_bt); myled = 1; } //*********************************MOTORS*********************************// void motor_control(int Lspeed, int Rspeed) { //Controls the motors. 0 = stopped, 100 = full speed, -100 = reverse speed if (!Lspeed && !Rspeed) //stop// { STBY = 0; } else STBY = 1; //make sure 'speeds' are between -100 and 100, and not between abs(0 to 10) if(Lspeed > 100) Lspeed = 100; else if (Lspeed < -100) Lspeed = -100; else if (Lspeed < 0 && Lspeed > -15) Lspeed = -15; //prevent speed from being less than 15 else if (Lspeed > 0 && Lspeed < 15) Lspeed = 15; if(Rspeed > 100) Rspeed = 100; else if (Rspeed < -100) Rspeed = -100; else if (Rspeed < 0 && Rspeed > -15) Rspeed = -15; else if (Rspeed > 0 && Rspeed < 15) Rspeed = 15; if (!Rspeed) { //if right motor is stopped AIN1 = 0; AIN2 = 0; PWMA = 0; } else if (!Lspeed) { //if left motor is stopped BIN1 = 0; BIN2 = 0; PWMB = 0; } //RIGHT MOTOR// if(Rspeed > 0) { //Right motor fwd AIN1 = MOTOR_R_DIRECTION; //set the motor direction AIN2 = !AIN1; } else { //Right motor reverse AIN2 = MOTOR_R_DIRECTION; AIN1 = !AIN2; } PWMA = abs(Rspeed/100.0); //LEFT MOTOR// if(Lspeed >0) { BIN1 = MOTOR_L_DIRECTION; BIN2 = !BIN1; } else { BIN2 = MOTOR_L_DIRECTION; BIN1 = !BIN2; } PWMB = abs(Lspeed/100.0); } void stop() { motor_control(0,0); } void set_speed(int Speed) { speed = Speed; motor_control(speed,speed); } double ldrread1() { double r = LDRsensor1.read(); return r; } double ldrread2() { double r = LDRsensor2.read(); return r; } void Led_on() { // pulseIn myled= 0; } void Led_off() { // pulseIn myled= 1; } /*double pl_buzzer() { for (int i=0;i<1000;i++) { int freq = 150+(i*10); buzzer=1; wait_us(1000000/freq); buzzer=0; wait_us(1000000/freq); wait_ms(1); } } */ void pl_buzzer(void const *args) { while(true) { stdio_mutex.lock(); float pulse_delay = 150+((float)freq*10); pulse_delay= 1000/pulse_delay; stdio_mutex.unlock(); // bt.lock(); //bt.printf("s;%lf;s\n\r",pulse_delay); //bt.unlock(); buzzer=1; Thread::wait(pulse_delay); buzzer=0; Thread::wait(pulse_delay); } //freq = 150+(freq*10); //buzzer.period_us(1000000/freq); // 4 second period //buzz.pulsewidth(2); // 2 second pulse (on) //buzzer.write(0.5f); // 50% duty cycle }