Pavel Rybakov / Robot

Simple controller class for Stinger Robot without using Robotics Connection board.

Robot.h@1:b4d202b471ae, 2010-10-13 (annotated)

Committer:
gtg795y
Date:
Wed Oct 13 03:18:54 2010 +0000
Revision:
1:b4d202b471ae
Parent:
0:fc95840345e8 

        

        
Who changed what in which revision?

        

            
                
UserRevisionLine numberNew contents of line

            
            


gtg795y

0:fc95840345e8


     1

#ifndef ROBOT_H





gtg795y

0:fc95840345e8


     2

#define ROBOT_H





gtg795y

0:fc95840345e8


     3







gtg795y

0:fc95840345e8


     4

// This library was designed simplify operation of Stinger robot only with MBED and two H-Bridges.





gtg795y

0:fc95840345e8


     5

// Is is still in development.





gtg795y

0:fc95840345e8


     6

// Class Robot integrated QEI, PID and Motor classes to work together through use of Ticker function to 





gtg795y

0:fc95840345e8


     7

// regularly poll QEI objects, adjust PID and Motor objects.





gtg795y

0:fc95840345e8


     8

// Right now all pins have been preassigned, later empty constructor will be added with individual pin assignments.





gtg795y

0:fc95840345e8


     9

//    Pinouts are:





gtg795y

0:fc95840345e8


    10

//    rightMotor = new Motor(p23, p6, p5); // pwm, fwd, rev





gtg795y

0:fc95840345e8


    11

//    leftMotor = new Motor(p22, p8, p7); // pwm, fwd, rev





gtg795y

0:fc95840345e8


    12

//    leftQei = new QEI(p29,  p30, NC, 624, QEI::X2_ENCODING);  //chanA, chanB, index, ppr





gtg795y

0:fc95840345e8


    13

//    rightQei = new QEI(p27, p28, NC, 624, QEI::X2_ENCODING);  //chanB, chanA, index, ppr





gtg795y

0:fc95840345e8


    14

//    leftPid = new PID(0.4312, 0.1, 0.0, RATE);  //Kc, Ti, Td





gtg795y

0:fc95840345e8


    15

//    rightPid = new PID(0.4312, 0.1, 0.0, RATE); //Kc, Ti, Td





gtg795y

0:fc95840345e8


    16







gtg795y

0:fc95840345e8


    17

#include "mbed.h"





gtg795y

0:fc95840345e8


    18

#include "Motor.h"





gtg795y

0:fc95840345e8


    19

#include "QEI.h"





gtg795y

0:fc95840345e8


    20

#include "PID.h"





gtg795y

0:fc95840345e8


    21







gtg795y

0:fc95840345e8


    22

#define MAX_SPEED 3200





gtg795y

0:fc95840345e8


    23

#define RATE 0.05





gtg795y

0:fc95840345e8


    24

#define DPP  14.2 //Pulses per degree of motor rotation





gtg795y

0:fc95840345e8


    25







gtg795y

1:b4d202b471ae


    26

/**





gtg795y

1:b4d202b471ae


    27

 * Robot class.





gtg795y

1:b4d202b471ae


    28

 */





gtg795y

0:fc95840345e8


    29







gtg795y

0:fc95840345e8


    30

class Robot {





gtg795y

0:fc95840345e8


    31

public:





gtg795y

1:b4d202b471ae


    32

    /**





gtg795y

1:b4d202b471ae


    33

    * Constructor





gtg795y

1:b4d202b471ae


    34

    */    





gtg795y

0:fc95840345e8


    35

    Robot();





gtg795y

1:b4d202b471ae


    36

    /**





gtg795y

1:b4d202b471ae


    37

    * Destructor





gtg795y

1:b4d202b471ae


    38

    */  





gtg795y

0:fc95840345e8


    39

    virtual ~Robot();





gtg795y

1:b4d202b471ae


    40

    /**





gtg795y

1:b4d202b471ae


    41

    * Move Straight





gtg795y

1:b4d202b471ae


    42

    * @param s  speed between -1.0 and 1.0





gtg795y

1:b4d202b471ae


    43

    * @param clix Number of pulses to move





gtg795y

1:b4d202b471ae


    44

    */  





gtg795y

0:fc95840345e8


    45

    void    MoveStraightPulses(float s, int clix);





gtg795y

1:b4d202b471ae


    46

    /**





gtg795y

1:b4d202b471ae


    47

    * Move Straight





gtg795y

1:b4d202b471ae


    48

    * @param speed  speed between -1.0 and 1.0





gtg795y

1:b4d202b471ae


    49

    * @param in Number of inches to move





gtg795y

1:b4d202b471ae


    50

    */  





gtg795y

0:fc95840345e8


    51

    void    MoveStraightInches(float speed, float in);





gtg795y

1:b4d202b471ae


    52

    /**





gtg795y

1:b4d202b471ae


    53

    * Move Straight





gtg795y

1:b4d202b471ae


    54

    * @param seed  speed between -1.0 and 1.0





gtg795y

1:b4d202b471ae


    55

    * @param rotations Number of wheel rotations to move





gtg795y

1:b4d202b471ae


    56

    */  





gtg795y

0:fc95840345e8


    57

    void    MoveStraightRotations(float speed, float rotations);





gtg795y

1:b4d202b471ae


    58

    /**





gtg795y

1:b4d202b471ae


    59

    * Stop Left Wheel





gtg795y

1:b4d202b471ae


    60

    */  





gtg795y

0:fc95840345e8


    61

    void    StopLeft();





gtg795y

1:b4d202b471ae


    62

    /**





gtg795y

1:b4d202b471ae


    63

    * Stop Right Wheel





gtg795y

1:b4d202b471ae


    64

    */  





gtg795y

0:fc95840345e8


    65

    void    StopRight();





gtg795y

1:b4d202b471ae


    66

    /**





gtg795y

1:b4d202b471ae


    67

    * Stop





gtg795y

1:b4d202b471ae


    68

    */  





gtg795y

0:fc95840345e8


    69

    void    Stop();





gtg795y

1:b4d202b471ae


    70

    /**





gtg795y

1:b4d202b471ae


    71

    * Pivet left





gtg795y

1:b4d202b471ae


    72

    * @param deg degrees





gtg795y

1:b4d202b471ae


    73

    */  





gtg795y

0:fc95840345e8


    74

    void    PivetLeft(float deg);





gtg795y

1:b4d202b471ae


    75

    /**





gtg795y

1:b4d202b471ae


    76

    * Pivet right





gtg795y

1:b4d202b471ae


    77

    * @param deg degrees





gtg795y

1:b4d202b471ae


    78

    */  





gtg795y

0:fc95840345e8


    79

    void    PivetRight(float deg);





gtg795y

0:fc95840345e8


    80

    void    RotateLeftWheel(float rpm, float deg);     //Rotate Wheel <deg> Degrees





gtg795y

0:fc95840345e8


    81

    void    RotateRightWheel(float rpm, float deg);    //Rotate Wheel <deg> Degrees





gtg795y

1:b4d202b471ae


    82

    /**





gtg795y

1:b4d202b471ae


    83

    * Returns 0 if robot is not moving





gtg795y

1:b4d202b471ae


    84

    * Returns 1 otherwise





gtg795y

1:b4d202b471ae


    85

    * @returns flat





gtg795y

1:b4d202b471ae


    86

    */  





gtg795y

0:fc95840345e8


    87

    int     IsBusy();





gtg795y

0:fc95840345e8


    88







gtg795y

0:fc95840345e8


    89







gtg795y

0:fc95840345e8


    90

protected:





gtg795y

0:fc95840345e8


    91

    Motor   *rightMotor;





gtg795y

0:fc95840345e8


    92

    Motor   *leftMotor;





gtg795y

0:fc95840345e8


    93

    QEI     *leftQei;





gtg795y

0:fc95840345e8


    94

    QEI     *rightQei;





gtg795y

0:fc95840345e8


    95

    PID     *leftPid;





gtg795y

0:fc95840345e8


    96

    PID     *rightPid;





gtg795y

0:fc95840345e8


    97

    Serial  *pc;





gtg795y

1:b4d202b471ae


    98

    /**





gtg795y

1:b4d202b471ae


    99

    * Ticker function





gtg795y

1:b4d202b471ae


   100

    */  





gtg795y

0:fc95840345e8


   101

    void    Call();





gtg795y

0:fc95840345e8


   102







gtg795y

0:fc95840345e8


   103

private:





gtg795y

0:fc95840345e8


   104

    Ticker           ticker;





gtg795y

0:fc95840345e8


   105

    volatile int     leftPulses;





gtg795y

0:fc95840345e8


   106

    volatile int     rightPulses;





gtg795y

0:fc95840345e8


   107

    volatile int     leftPrevPulses;





gtg795y

0:fc95840345e8


   108

    volatile int     rightPrevPulses;





gtg795y

0:fc95840345e8


   109

    volatile int     leftPulsesGoTo;





gtg795y

0:fc95840345e8


   110

    volatile int     rightPulsesGoTo;





gtg795y

0:fc95840345e8


   111

    volatile int     leftSpeed;





gtg795y

0:fc95840345e8


   112

    volatile int     rightSpeed;





gtg795y

0:fc95840345e8


   113

    volatile float   rightVelocity;





gtg795y

0:fc95840345e8


   114

    volatile float   leftVelocity;





gtg795y

0:fc95840345e8


   115

    float   leftDirection;





gtg795y

0:fc95840345e8


   116

    float   rightDirection;





gtg795y

0:fc95840345e8


   117

};





gtg795y

0:fc95840345e8


   118







gtg795y

0:fc95840345e8


   119

#endif /* ROBOT_H */