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Dependencies:   Movement mbed tunes motor pwm_tone clickers Ultra

main.cpp@9:1094da23254d, 2020-03-06 (annotated)

Committer:
jakesmart
Date:
Fri Mar 06 16:56:00 2020 +0000
Revision:
9:1094da23254d
Parent:
8:f78d756832ad
Child:
12:15272c2ae2ed
Ultrasonics working, movement functions created (started).

Who changed what in which revision?

UserRevisionLine numberNew contents of line
martinsimpson 0:51c12cc34baf 1 /*
martinsimpson 1:3ca91ad8e927 2 Simple Routine for Nucleo Board for ROCO104 Buggy Motor Control and Microswitches
martinsimpson 1:3ca91ad8e927 3 Heavy edit from previous ROCO103PP code
martinsimpson 1:3ca91ad8e927 4 Motor Class can now be instansiated with all four pins needed to control the H Bridge
martinsimpson 1:3ca91ad8e927 5 with a member functions as follows
martinsimpson 1:3ca91ad8e927 6
martinsimpson 1:3ca91ad8e927 7 Motor::Speed(float A, Float B) range -0.1 to +1.0 to give full reverse to full forward for A/B motors
martinsimpson 1:3ca91ad8e927 8 Motor::Stop() STOP
martinsimpson 1:3ca91ad8e927 9 Motor::Fwd(float) Forward but floating point number (range 0.0 to 1.0)
martinsimpson 1:3ca91ad8e927 10 Motor::Rev(float) Reverse but floating point number (range 0.0 to 1.0)
martinsimpson 1:3ca91ad8e927 11
martinsimpson 0:51c12cc34baf 12 Plymouth University
martinsimpson 0:51c12cc34baf 13 M.Simpson 31st October 2016
martinsimpson 1:3ca91ad8e927 14 Edited 03/02/2017
martinsimpson 1:3ca91ad8e927 15 Edited 06/12/2018
martinsimpson 0:51c12cc34baf 16 */
martinsimpson 0:51c12cc34baf 17 #include "mbed.h"
martinsimpson 0:51c12cc34baf 18 #include "motor.h"
jakesmart 9:1094da23254d 19 #include "UltraSonic.h"
martinsimpson 0:51c12cc34baf 20 #include "tunes.h"
Mikebob 5:a0090b8b327b 21 #include "clickers.h"
martinsimpson 0:51c12cc34baf 22 #define TIME_PERIOD 2 //Constant compiler Values here 2 equates to 2ms or 500Hz base Frequency
martinsimpson 0:51c12cc34baf 23 #define DUTY 0.9 //DUTY of 1.0=100%, 0.4=40% etc.,
martinsimpson 0:51c12cc34baf 24
martinsimpson 0:51c12cc34baf 25 DigitalIn microswitch1(D4); //Instance of the DigitalIn class called 'microswitch1'
martinsimpson 0:51c12cc34baf 26 DigitalIn microswitch2(D3); //Instance of the DigitalIn class called 'microswitch2'
Mikebob 7:48bf77d076fc 27 Motor Wheel(D13,D11,D9,D10); //Instance of the Motor Class called 'Wheel' see motor.h and motor.cpp
martinsimpson 0:51c12cc34baf 28 DigitalIn myButton(USER_BUTTON); //USER_BUTTON is the Blue Button on the NUCLEO Board
martinsimpson 1:3ca91ad8e927 29 DigitalOut led(LED3); //LED1 is the Green LED on the NUCLEO board
martinsimpson 0:51c12cc34baf 30 //N.B. The RED LED is the POWER Indicator
martinsimpson 0:51c12cc34baf 31 //and the Multicoloured LED indicates status of the ST-LINK Programming cycle
martinsimpson 0:51c12cc34baf 32
martinsimpson 0:51c12cc34baf 33 Serial pc(USBTX,USBRX); //Instance of the Serial class to enable much faster BAUD rates then standard 9600 i.e. 115200
martinsimpson 0:51c12cc34baf 34 //This is Pseudo RS232 over USB the NUCLEO will appear as a COMx Port see device Manager on PC used
martinsimpson 0:51c12cc34baf 35 //Use PuTTY to monitor check COMx and BAUD rate (115200)
Mikebob 7:48bf77d076fc 36 int mm;
jakesmart 9:1094da23254d 37 bool fStopped, rStopped = false;
jakesmart 9:1094da23254d 38 void dist(){
jakesmart 9:1094da23254d 39 mm = (int)GetDistance();
Mikebob 7:48bf77d076fc 40 }
martinsimpson 0:51c12cc34baf 41 int main ()
martinsimpson 0:51c12cc34baf 42 {
Mikebob 7:48bf77d076fc 43 pc.baud(9600); //BAUD Rate to 9600
Mikebob 7:48bf77d076fc 44 pc.printf("ROCO104 Demonstration Robot Buggy Plymouth University 2018/19\n\r");
Mikebob 7:48bf77d076fc 45 Wheel.Period_in_ms(TIME_PERIOD);//Set frequency of the PWMs
martinsimpson 1:3ca91ad8e927 46 Wheel.Stop();
martinsimpson 0:51c12cc34baf 47
martinsimpson 1:3ca91ad8e927 48 close_encounter(1); //tune to play Announce start!
martinsimpson 1:3ca91ad8e927 49 //twinkle(1); //see tunes.h for alternatives or make your own!
martinsimpson 1:3ca91ad8e927 50 //jingle_bells(1);
Mikebob 7:48bf77d076fc 51
martinsimpson 1:3ca91ad8e927 52 while(myButton==0)
martinsimpson 1:3ca91ad8e927 53 { //Wait here for USER Button (Blue) on Nucleo Board (goes to zero when pressed)
martinsimpson 1:3ca91ad8e927 54 led=0; //and flash green LED whilst waiting
martinsimpson 0:51c12cc34baf 55 wait(0.1);
martinsimpson 0:51c12cc34baf 56 led=1;
martinsimpson 0:51c12cc34baf 57 wait(0.1);
martinsimpson 4:8249fab4d8d3 58 //Test Microswitches with two different tones see tunes.cpp tunes.h or flash (led1 and led2) onboard LEDs
martinsimpson 0:51c12cc34baf 59 }
Mikebob 5:a0090b8b327b 60 Wheel.Period_in_ms(2);//Set frequency of the PWMs 500Hz
Mikebob 7:48bf77d076fc 61
martinsimpson 1:3ca91ad8e927 62 while(true) //Repeat the following forever NB always true!
martinsimpson 0:51c12cc34baf 63 {
jakesmart 9:1094da23254d 64 dist();
jakesmart 9:1094da23254d 65
jakesmart 9:1094da23254d 66 ultra_sonic_distance();
Mikebob 5:a0090b8b327b 67 RevStop();
jakesmart 9:1094da23254d 68 FwdStop();
martinsimpson 4:8249fab4d8d3 69 } // go back to start of while loop
martinsimpson 4:8249fab4d8d3 70 } //end of int main()