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Dependencies:   Movement mbed tunes motor pwm_tone clickers Ultra

main.cpp@7:48bf77d076fc, 2020-02-15 (annotated)

Committer:
Mikebob
Date:
Sat Feb 15 12:46:10 2020 +0000
Revision:
7:48bf77d076fc
Parent:
5:a0090b8b327b
Child:
8:f78d756832ad
Ultrasonics added and working

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"
martinsimpson 0:51c12cc34baf 19 #include "tunes.h"
Mikebob 5:a0090b8b327b 20 #include "clickers.h"
Mikebob 7:48bf77d076fc 21 #include "ultrasonic.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;
Mikebob 7:48bf77d076fc 37 void dist(int distance)
Mikebob 7:48bf77d076fc 38 {
Mikebob 7:48bf77d076fc 39 //put code here to happen when the distance is changed
Mikebob 7:48bf77d076fc 40 printf("%dmm\r\n", distance);
Mikebob 7:48bf77d076fc 41 mm = distance;
Mikebob 7:48bf77d076fc 42 }
Mikebob 7:48bf77d076fc 43 ultrasonic mu(PE_9, PF_15, .1, 1, &dist); //Trigger is PE_9, echo is PF_15. have updates every .1 seconds and a timeout after 1 second, and call dist when the distance changes
martinsimpson 0:51c12cc34baf 44
martinsimpson 0:51c12cc34baf 45 int main ()
martinsimpson 0:51c12cc34baf 46 {
Mikebob 7:48bf77d076fc 47 pc.baud(9600); //BAUD Rate to 9600
Mikebob 7:48bf77d076fc 48 pc.printf("ROCO104 Demonstration Robot Buggy Plymouth University 2018/19\n\r");
Mikebob 7:48bf77d076fc 49 mu.startUpdates();//start mesuring the distance
Mikebob 7:48bf77d076fc 50 Wheel.Period_in_ms(TIME_PERIOD);//Set frequency of the PWMs
martinsimpson 1:3ca91ad8e927 51 Wheel.Stop();
martinsimpson 0:51c12cc34baf 52
martinsimpson 1:3ca91ad8e927 53 close_encounter(1); //tune to play Announce start!
martinsimpson 1:3ca91ad8e927 54 //twinkle(1); //see tunes.h for alternatives or make your own!
martinsimpson 1:3ca91ad8e927 55 //jingle_bells(1);
Mikebob 7:48bf77d076fc 56
martinsimpson 1:3ca91ad8e927 57 while(myButton==0)
martinsimpson 1:3ca91ad8e927 58 { //Wait here for USER Button (Blue) on Nucleo Board (goes to zero when pressed)
martinsimpson 1:3ca91ad8e927 59 led=0; //and flash green LED whilst waiting
martinsimpson 0:51c12cc34baf 60 wait(0.1);
martinsimpson 0:51c12cc34baf 61 led=1;
martinsimpson 0:51c12cc34baf 62 wait(0.1);
martinsimpson 4:8249fab4d8d3 63 //Test Microswitches with two different tones see tunes.cpp tunes.h or flash (led1 and led2) onboard LEDs
martinsimpson 0:51c12cc34baf 64 }
Mikebob 5:a0090b8b327b 65 Wheel.Period_in_ms(2);//Set frequency of the PWMs 500Hz
Mikebob 7:48bf77d076fc 66
martinsimpson 1:3ca91ad8e927 67 while(true) //Repeat the following forever NB always true!
martinsimpson 0:51c12cc34baf 68 {
Mikebob 7:48bf77d076fc 69 Wheel.Speed(-0.8,-0.8);//Backwards 80%
Mikebob 7:48bf77d076fc 70 mu.checkDistance(); //call checkDistance() as much as possible, as this is where
Mikebob 5:a0090b8b327b 71 RevStop();
martinsimpson 4:8249fab4d8d3 72 } // go back to start of while loop
martinsimpson 4:8249fab4d8d3 73 } //end of int main()