Robot.h

00001 #ifndef ROBOT_H
00002 #define ROBOT_H
00003 
00004 // This library was designed simplify operation of Stinger robot only with MBED and two H-Bridges.
00005 // Is is still in development.
00006 // Class Robot integrated QEI, PID and Motor classes to work together through use of Ticker function to 
00007 // regularly poll QEI objects, adjust PID and Motor objects.
00008 // Right now all pins have been preassigned, later empty constructor will be added with individual pin assignments.
00009 //    Pinouts are:
00010 //    rightMotor = new Motor(p23, p6, p5); // pwm, fwd, rev
00011 //    leftMotor = new Motor(p22, p8, p7); // pwm, fwd, rev
00012 //    leftQei = new QEI(p29,  p30, NC, 624, QEI::X2_ENCODING);  //chanA, chanB, index, ppr
00013 //    rightQei = new QEI(p27, p28, NC, 624, QEI::X2_ENCODING);  //chanB, chanA, index, ppr
00014 //    leftPid = new PID(0.4312, 0.1, 0.0, RATE);  //Kc, Ti, Td
00015 //    rightPid = new PID(0.4312, 0.1, 0.0, RATE); //Kc, Ti, Td
00016 
00017 #include "mbed.h"
00018 #include "Motor.h"
00019 #include "QEI.h"
00020 #include "PID.h"
00021 
00022 #define MAX_SPEED 3200
00023 #define RATE 0.05
00024 #define DPP  14.2 //Pulses per degree of motor rotation
00025 
00026 /**
00027  * Robot class.
00028  */
00029 
00030 class Robot {
00031 public:
00032     /**
00033     * Constructor
00034     */    
00035     Robot();
00036     /**
00037     * Destructor
00038     */  
00039     virtual ~Robot();
00040     /**
00041     * Move Straight
00042     * @param s  speed between -1.0 and 1.0
00043     * @param clix Number of pulses to move
00044     */  
00045     void    MoveStraightPulses(float s, int clix);
00046     /**
00047     * Move Straight
00048     * @param speed  speed between -1.0 and 1.0
00049     * @param in Number of inches to move
00050     */  
00051     void    MoveStraightInches(float speed, float in);
00052     /**
00053     * Move Straight
00054     * @param seed  speed between -1.0 and 1.0
00055     * @param rotations Number of wheel rotations to move
00056     */  
00057     void    MoveStraightRotations(float speed, float rotations);
00058     /**
00059     * Stop Left Wheel
00060     */  
00061     void    StopLeft();
00062     /**
00063     * Stop Right Wheel
00064     */  
00065     void    StopRight();
00066     /**
00067     * Stop
00068     */  
00069     void    Stop();
00070     /**
00071     * Pivet left
00072     * @param deg degrees
00073     */  
00074     void    PivetLeft(float deg);
00075     /**
00076     * Pivet right
00077     * @param deg degrees
00078     */  
00079     void    PivetRight(float deg);
00080     void    RotateLeftWheel(float rpm, float deg);     //Rotate Wheel <deg> Degrees
00081     void    RotateRightWheel(float rpm, float deg);    //Rotate Wheel <deg> Degrees
00082     /**
00083     * Returns 0 if robot is not moving
00084     * Returns 1 otherwise
00085     * @returns flat
00086     */  
00087     int     IsBusy();
00088 
00089 
00090 protected:
00091     Motor   *rightMotor;
00092     Motor   *leftMotor;
00093     QEI     *leftQei;
00094     QEI     *rightQei;
00095     PID     *leftPid;
00096     PID     *rightPid;
00097     Serial  *pc;
00098     /**
00099     * Ticker function
00100     */  
00101     void    Call();
00102 
00103 private:
00104     Ticker           ticker;
00105     volatile int     leftPulses;
00106     volatile int     rightPulses;
00107     volatile int     leftPrevPulses;
00108     volatile int     rightPrevPulses;
00109     volatile int     leftPulsesGoTo;
00110     volatile int     rightPulsesGoTo;
00111     volatile int     leftSpeed;
00112     volatile int     rightSpeed;
00113     volatile float   rightVelocity;
00114     volatile float   leftVelocity;
00115     float   leftDirection;
00116     float   rightDirection;
00117 };
00118 
00119 #endif /* ROBOT_H */