Kiyoteru Hayama / mbedRobotracer_Edu

mbed robotracer for education.

Robotracer (line follower robot ) using stepper motor.

/media/uploads/hayama/cimg8463.jpg

/media/uploads/hayama/mbedrobotracer-manual-english.pdf

/media/uploads/hayama/mbedrobotracer-manual-japanese.pdf

/media/uploads/hayama/eagle-design-robotracer.zip

movie -> https://www.youtube.com/watch?v=INwun8gSds4

(for competition->) https://www.youtube.com/watch?v=l_gP2pUt4w0

mbed/PortInOut.h@1:200aad416161, 2013-10-02 (annotated)

Committer:
hayama
Date:
Wed Oct 02 01:09:55 2013 +0000
Revision:
1:200aad416161
Parent:
0:da22b0b4395a 
mbed robotracer for education.

;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hayama 0:da22b0b4395a 1 /* mbed Microcontroller Library
hayama 0:da22b0b4395a 2 * Copyright (c) 2006-2013 ARM Limited
hayama 0:da22b0b4395a 3 *
hayama 0:da22b0b4395a 4 * Licensed under the Apache License, Version 2.0 (the "License");
hayama 0:da22b0b4395a 5 * you may not use this file except in compliance with the License.
hayama 0:da22b0b4395a 6 * You may obtain a copy of the License at
hayama 0:da22b0b4395a 7 *
hayama 0:da22b0b4395a 8 * http://www.apache.org/licenses/LICENSE-2.0
hayama 0:da22b0b4395a 9 *
hayama 0:da22b0b4395a 10 * Unless required by applicable law or agreed to in writing, software
hayama 0:da22b0b4395a 11 * distributed under the License is distributed on an "AS IS" BASIS,
hayama 0:da22b0b4395a 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
hayama 0:da22b0b4395a 13 * See the License for the specific language governing permissions and
hayama 0:da22b0b4395a 14 * limitations under the License.
hayama 0:da22b0b4395a 15 */
hayama 0:da22b0b4395a 16 #ifndef MBED_PORTINOUT_H
hayama 0:da22b0b4395a 17 #define MBED_PORTINOUT_H
hayama 0:da22b0b4395a 18
hayama 0:da22b0b4395a 19 #include "platform.h"
hayama 0:da22b0b4395a 20
hayama 0:da22b0b4395a 21 #if DEVICE_PORTINOUT
hayama 0:da22b0b4395a 22
hayama 0:da22b0b4395a 23 #include "port_api.h"
hayama 0:da22b0b4395a 24
hayama 0:da22b0b4395a 25 namespace mbed {
hayama 0:da22b0b4395a 26
hayama 0:da22b0b4395a 27 /** A multiple pin digital in/out used to set/read multiple bi-directional pins
hayama 0:da22b0b4395a 28 */
hayama 0:da22b0b4395a 29 class PortInOut {
hayama 0:da22b0b4395a 30 public:
hayama 0:da22b0b4395a 31
hayama 0:da22b0b4395a 32 /** Create an PortInOut, connected to the specified port
hayama 0:da22b0b4395a 33 *
hayama 0:da22b0b4395a 34 * @param port Port to connect to (Port0-Port5)
hayama 0:da22b0b4395a 35 * @param mask A bitmask to identify which bits in the port should be included (0 - ignore)
hayama 0:da22b0b4395a 36 */
hayama 0:da22b0b4395a 37 PortInOut(PortName port, int mask = 0xFFFFFFFF) {
hayama 0:da22b0b4395a 38 port_init(&_port, port, mask, PIN_INPUT);
hayama 0:da22b0b4395a 39 }
hayama 0:da22b0b4395a 40
hayama 0:da22b0b4395a 41 /** Write the value to the output port
hayama 0:da22b0b4395a 42 *
hayama 0:da22b0b4395a 43 * @param value An integer specifying a bit to write for every corresponding port pin
hayama 0:da22b0b4395a 44 */
hayama 0:da22b0b4395a 45 void write(int value) {
hayama 0:da22b0b4395a 46 port_write(&_port, value);
hayama 0:da22b0b4395a 47 }
hayama 0:da22b0b4395a 48
hayama 0:da22b0b4395a 49 /** Read the value currently output on the port
hayama 0:da22b0b4395a 50 *
hayama 0:da22b0b4395a 51 * @returns
hayama 0:da22b0b4395a 52 * An integer with each bit corresponding to associated port pin setting
hayama 0:da22b0b4395a 53 */
hayama 0:da22b0b4395a 54 int read() {
hayama 0:da22b0b4395a 55 return port_read(&_port);
hayama 0:da22b0b4395a 56 }
hayama 0:da22b0b4395a 57
hayama 0:da22b0b4395a 58 /** Set as an output
hayama 0:da22b0b4395a 59 */
hayama 0:da22b0b4395a 60 void output() {
hayama 0:da22b0b4395a 61 port_dir(&_port, PIN_OUTPUT);
hayama 0:da22b0b4395a 62 }
hayama 0:da22b0b4395a 63
hayama 0:da22b0b4395a 64 /** Set as an input
hayama 0:da22b0b4395a 65 */
hayama 0:da22b0b4395a 66 void input() {
hayama 0:da22b0b4395a 67 port_dir(&_port, PIN_INPUT);
hayama 0:da22b0b4395a 68 }
hayama 0:da22b0b4395a 69
hayama 0:da22b0b4395a 70 /** Set the input pin mode
hayama 0:da22b0b4395a 71 *
hayama 0:da22b0b4395a 72 * @param mode PullUp, PullDown, PullNone, OpenDrain
hayama 0:da22b0b4395a 73 */
hayama 0:da22b0b4395a 74 void mode(PinMode mode) {
hayama 0:da22b0b4395a 75 port_mode(&_port, mode);
hayama 0:da22b0b4395a 76 }
hayama 0:da22b0b4395a 77
hayama 0:da22b0b4395a 78 /** A shorthand for write()
hayama 0:da22b0b4395a 79 */
hayama 0:da22b0b4395a 80 PortInOut& operator= (int value) {
hayama 0:da22b0b4395a 81 write(value);
hayama 0:da22b0b4395a 82 return *this;
hayama 0:da22b0b4395a 83 }
hayama 0:da22b0b4395a 84
hayama 0:da22b0b4395a 85 PortInOut& operator= (PortInOut& rhs) {
hayama 0:da22b0b4395a 86 write(rhs.read());
hayama 0:da22b0b4395a 87 return *this;
hayama 0:da22b0b4395a 88 }
hayama 0:da22b0b4395a 89
hayama 0:da22b0b4395a 90 /** A shorthand for read()
hayama 0:da22b0b4395a 91 */
hayama 0:da22b0b4395a 92 operator int() {
hayama 0:da22b0b4395a 93 return read();
hayama 0:da22b0b4395a 94 }
hayama 0:da22b0b4395a 95
hayama 0:da22b0b4395a 96 private:
hayama 0:da22b0b4395a 97 port_t _port;
hayama 0:da22b0b4395a 98 };
hayama 0:da22b0b4395a 99
hayama 0:da22b0b4395a 100 } // namespace mbed
hayama 0:da22b0b4395a 101
hayama 0:da22b0b4395a 102 #endif
hayama 0:da22b0b4395a 103
hayama 0:da22b0b4395a 104 #endif