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/Timer.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_TIMER_H
hayama 0:da22b0b4395a 17 #define MBED_TIMER_H
hayama 0:da22b0b4395a 18
hayama 0:da22b0b4395a 19 #include "platform.h"
hayama 0:da22b0b4395a 20
hayama 0:da22b0b4395a 21 namespace mbed {
hayama 0:da22b0b4395a 22
hayama 0:da22b0b4395a 23 /** A general purpose timer
hayama 0:da22b0b4395a 24 *
hayama 0:da22b0b4395a 25 * Example:
hayama 0:da22b0b4395a 26 * @code
hayama 0:da22b0b4395a 27 * // Count the time to toggle a LED
hayama 0:da22b0b4395a 28 *
hayama 0:da22b0b4395a 29 * #include "mbed.h"
hayama 0:da22b0b4395a 30 *
hayama 0:da22b0b4395a 31 * Timer timer;
hayama 0:da22b0b4395a 32 * DigitalOut led(LED1);
hayama 0:da22b0b4395a 33 * int begin, end;
hayama 0:da22b0b4395a 34 *
hayama 0:da22b0b4395a 35 * int main() {
hayama 0:da22b0b4395a 36 * timer.start();
hayama 0:da22b0b4395a 37 * begin = timer.read_us();
hayama 0:da22b0b4395a 38 * led = !led;
hayama 0:da22b0b4395a 39 * end = timer.read_us();
hayama 0:da22b0b4395a 40 * printf("Toggle the led takes %d us", end - begin);
hayama 0:da22b0b4395a 41 * }
hayama 0:da22b0b4395a 42 * @endcode
hayama 0:da22b0b4395a 43 */
hayama 0:da22b0b4395a 44 class Timer {
hayama 0:da22b0b4395a 45
hayama 0:da22b0b4395a 46 public:
hayama 0:da22b0b4395a 47 Timer();
hayama 0:da22b0b4395a 48
hayama 0:da22b0b4395a 49 /** Start the timer
hayama 0:da22b0b4395a 50 */
hayama 0:da22b0b4395a 51 void start();
hayama 0:da22b0b4395a 52
hayama 0:da22b0b4395a 53 /** Stop the timer
hayama 0:da22b0b4395a 54 */
hayama 0:da22b0b4395a 55 void stop();
hayama 0:da22b0b4395a 56
hayama 0:da22b0b4395a 57 /** Reset the timer to 0.
hayama 0:da22b0b4395a 58 *
hayama 0:da22b0b4395a 59 * If it was already counting, it will continue
hayama 0:da22b0b4395a 60 */
hayama 0:da22b0b4395a 61 void reset();
hayama 0:da22b0b4395a 62
hayama 0:da22b0b4395a 63 /** Get the time passed in seconds
hayama 0:da22b0b4395a 64 */
hayama 0:da22b0b4395a 65 float read();
hayama 0:da22b0b4395a 66
hayama 0:da22b0b4395a 67 /** Get the time passed in mili-seconds
hayama 0:da22b0b4395a 68 */
hayama 0:da22b0b4395a 69 int read_ms();
hayama 0:da22b0b4395a 70
hayama 0:da22b0b4395a 71 /** Get the time passed in micro-seconds
hayama 0:da22b0b4395a 72 */
hayama 0:da22b0b4395a 73 int read_us();
hayama 0:da22b0b4395a 74
hayama 0:da22b0b4395a 75 #ifdef MBED_OPERATORS
hayama 0:da22b0b4395a 76 operator float();
hayama 0:da22b0b4395a 77 #endif
hayama 0:da22b0b4395a 78
hayama 0:da22b0b4395a 79 protected:
hayama 0:da22b0b4395a 80 int slicetime();
hayama 0:da22b0b4395a 81 int _running; // whether the timer is running
hayama 0:da22b0b4395a 82 unsigned int _start; // the start time of the latest slice
hayama 0:da22b0b4395a 83 int _time; // any accumulated time from previous slices
hayama 0:da22b0b4395a 84 };
hayama 0:da22b0b4395a 85
hayama 0:da22b0b4395a 86 } // namespace mbed
hayama 0:da22b0b4395a 87
hayama 0:da22b0b4395a 88 #endif