for publish
Dependencies: HC_SR04_Ultrasonic_Library mbed
Revision 0:fded9bf799e2, committed 2017-03-14
- Comitter:
- jasonbx
- Date:
- Tue Mar 14 15:49:33 2017 +0000
- Commit message:
- For publish
Changed in this revision
diff -r 000000000000 -r fded9bf799e2 HC_SR04_Ultrasonic_Library.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HC_SR04_Ultrasonic_Library.lib Tue Mar 14 15:49:33 2017 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/ejteb/code/HC_SR04_Ultrasonic_Library/#e0f9c9fb4cf3
diff -r 000000000000 -r fded9bf799e2 Motordriver/motordriver.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Motordriver/motordriver.cpp Tue Mar 14 15:49:33 2017 +0000 @@ -0,0 +1,140 @@ +/*motor driver libary modified from the following libary, +* +* mbed simple H-bridge motor controller +* Copyright (c) 2007-2010, sford +* +* by Christopher Hasler. +* +* from sford's libary, +* +* Permission is hereby granted, free of charge, to any person obtaining a copy +* of this software and associated documentation files (the "Software"), to deal +* in the Software without restriction, including without limitation the rights +* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +* copies of the Software, and to permit persons to whom the Software is +* furnished to do so, subject to the following conditions: +* +* The above copyright notice and this permission notice shall be included in +* all copies or substantial portions of the Software. +* +* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +* THE SOFTWARE. +*/ + +#include "motordriver.h" + +#include "mbed.h" + +Motor::Motor(PinName pwm, PinName fwd, PinName rev, int brakeable): + _pwm(pwm), _fwd(fwd), _rev(rev) { + + // Set initial condition of PWM + _pwm.period(0.001); + _pwm = 0; + + // Initial condition of output enables + _fwd = 0; + _rev = 0; + + //set if the motor dirver is capable of braking. (addition) + Brakeable= brakeable; + sign = 0;//i.e nothing. +} + +float Motor::speed(float speed) { + float temp = 0; + if (sign == 0) { + _fwd = (speed > 0.0); + _rev = (speed < 0.0); + temp = abs(speed); + _pwm = temp; + } else if (sign == 1) { + if (speed < 0) { + _fwd = (speed > 0.0); + _rev = (speed < 0.0); + _pwm = 0; + temp = 0; + } else { + _fwd = (speed > 0.0); + _rev = (speed < 0.0); + temp = abs(speed); + _pwm = temp; + } + } else if (sign == -1) { + if (speed > 0) { + _fwd = (speed > 0.0); + _rev = (speed < 0.0); + _pwm = 0; + temp = 0; + } else { + _fwd = (speed > 0.0); + _rev = (speed < 0.0); + temp = abs(speed); + _pwm = temp; + } + } + if (speed > 0) + sign = 1; + else if (speed < 0) { + sign = -1; + } else if (speed == 0) { + sign = 0; + } + return temp; +} +// (additions) +void Motor::coast(void) { + _fwd = 0; + _rev = 0; + _pwm = 0; + sign = 0; +} + +float Motor::stop(float duty) { + if (Brakeable == 1) { + _fwd = 1; + _rev = 1; + _pwm = duty; + sign = 0; + return duty; + } else + Motor::coast(); + return -1; +} + +float Motor::state(void) { + if ((_fwd == _rev) && (_pwm > 0)) { + return -2;//braking + } else if (_pwm == 0) { + return 2;//coasting + } else if ((_fwd == 0) && (_rev == 1)) { + return -(_pwm);//reversing + } else if ((_fwd == 1) && (_rev == 0)) { + return _pwm;//fowards + } else + return -3;//error +} + +/* + test code, this demonstrates working motor drivers. + +Motor A(p22, p6, p5, 1); // pwm, fwd, rev, can break +Motor B(p21, p7, p8, 1); // pwm, fwd, rev, can break +int main() { + for (float s=-1.0; s < 1.0 ; s += 0.01) { + A.speed(s); + B.speed(s); + wait(0.02); + } + A.stop(); + B.stop(); + wait(1); + A.coast(); + B.coast(); +} +*/ \ No newline at end of file
diff -r 000000000000 -r fded9bf799e2 Motordriver/motordriver.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Motordriver/motordriver.h Tue Mar 14 15:49:33 2017 +0000 @@ -0,0 +1,91 @@ +/*motor driver libary modified from the following libary, +* +* mbed simple H-bridge motor controller +* Copyright (c) 2007-2010, sford +* +* by Christopher Hasler. +* +* from sford's libary, +* +* Permission is hereby granted, free of charge, to any person obtaining a copy +* of this software and associated documentation files (the "Software"), to deal +* in the Software without restriction, including without limitation the rights +* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +* copies of the Software, and to permit persons to whom the Software is +* furnished to do so, subject to the following conditions: +* +* The above copyright notice and this permission notice shall be included in +* all copies or substantial portions of the Software. +* +* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +* THE SOFTWARE. +*/ + +#ifndef MBED_MOTOR_H +#define MBED_MOTOR_H + +#include "mbed.h" + +/** Interface to control a standard DC motor +* with an H-bridge using a PwmOut and 2 DigitalOuts +*/ +class Motor { + public: + +/** Create a motor control interface +* +* @param pwm A PwmOut pin, driving the H-bridge enable line to control the speed +* @param fwd A DigitalOut, set high when the motor should go forward +* @param rev A DigitalOut, set high when the motor should go backwards +* @param set if the motor driver is able to do braking 0 false 1 true. +*/ + Motor(PinName pwm, PinName fwd, PinName rev, int brakeable); + +/** Set the speed of the motor +* +* @param speed The speed of the motor as a normalised value between -1.0 and 1.0. +* @return the applied speed to the motor after checking to ensure motor doesn't switch from forward to reverse without stopping. +*/ + float speed(float speed); + +/** Set the the motor to coast +* +* @param void +* @return motor coasts until another instruction is recived. +*/ + + void coast(void); + +/** Set the motor to dynamicaly brake +* +* @param float 0 - 1.0 provides some control over how hard the motor brakes. +* @return duty applied to motor driver. -1 is error, motor driver can't brake. +*/ + + float stop(float duty); +/** return the current state of the motor +* +* @param void +* @return state of motor, -1 to 1 is speed, -2 is braking, 2 is coasting. -3 is error. +*/ + float state(void); + + protected: + PwmOut _pwm; + DigitalOut _fwd; + DigitalOut _rev; + int Brakeable; // cna the motor driver break + int sign; //prevents throwing the motor from full foward to full reverse and stuff melting. + +}; + + + + + +#endif
diff -r 000000000000 -r fded9bf799e2 SongPlayer.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SongPlayer.h Tue Mar 14 15:49:33 2017 +0000 @@ -0,0 +1,41 @@ +#include "mbed.h" +// new class to play a note on Speaker based on PwmOut class +class SongPlayer +{ +public: + SongPlayer(PinName pin) : _pin(pin) { +// _pin(pin) means pass pin to the constructor + } +// class method to play a note based on PwmOut class + void PlaySong(float frequency[], float duration[], float volume=1.0) { + vol = volume; + notecount = 0; + _pin.period(1.0/frequency[notecount]); + _pin = volume/2.0; + noteduration.attach(this,&SongPlayer::nextnote, duration[notecount]); + // setup timer to interrupt for next note to play + frequencyptr = frequency; + durationptr = duration; + //returns after first note starts to play + } + void nextnote(); +private: + Timeout noteduration; + PwmOut _pin; + int notecount; + float vol; + float * frequencyptr; + float * durationptr; +}; +//Interrupt Routine to play next note +void SongPlayer::nextnote() +{ + _pin = 0.0; + notecount++; //setup next note in song + if (durationptr[notecount]!=0.0) { + _pin.period(1.0/frequencyptr[notecount]); + noteduration.attach(this,&SongPlayer::nextnote, durationptr[notecount]); + _pin = vol/2.0; + } else + _pin = 0.0; //turn off on last note +} \ No newline at end of file
diff -r 000000000000 -r fded9bf799e2 main.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Tue Mar 14 15:49:33 2017 +0000 @@ -0,0 +1,147 @@ +#include "mbed.h" +#include "motordriver.h" +#include "ultrasonic.h" +#include "SongPlayer.h" +int x=1; + + +void dist(int distance) +{ + if (distance<100){ + x=0; + } + //put code here to execute when the distance has changed + printf("Distance %d mm\r\n", distance); + +} + + +ultrasonic mu(p9, p10, .1, 1, &dist); +//BusOut myled(LED1,LED2,LED3,LED4); +DigitalOut led1(LED1); +DigitalOut led2(LED2); +DigitalOut led3(LED3); +DigitalOut led4(LED4); +Serial blue(p28,p27); +AnalogIn ain(A0); //p15 +SongPlayer mySpeaker(p26); +Motor A(p23, p6, p5, 1); // pwm, fwd, rev, can brake +Motor B(p21, p7, p8, 1); // pwm, fwd, rev, can brake + +float note[18]= {1568.0,1396.9,1244.5,1244.5,1396.9,1568.0,1568.0,1568.0,1396.9, + 1244.5,1396.9,1568.0,1396.9,1244.5,1174.7,1244.5,1244.5, 0.0 + }; +float duration[18]= {0.48,0.24,0.72,0.48,0.24,0.48,0.24,0.24,0.24, + 0.24,0.24,0.24,0.24,0.48,0.24,0.48,0.48, 0.0 + }; + +int main() +{ + + mu.startUpdates();//start measuring the distance + char bnum=0; + char bhit=0; + + while(x==1){ + mu.checkDistance(); + + led1 = (ain > 0.15f) ? 1 : 0; + led2 = (ain > 0.30f) ? 1 : 0; + led3 = (ain > 0.45f) ? 1 : 0; + led4 = (ain > 0.7f) ? 1 : 0; + A.speed(0.4); + B.speed(0.4); + + + + + // printf("Distance %d mm\r\n", distance); + + } + mySpeaker.PlaySong(note,duration); + // loops forever while song continues to play to end using interrupts + A.speed(0); + B.speed(0); + while(1){ + if (blue.getc()=='!') { + if (blue.getc()=='B') { //button data packet + bnum = blue.getc(); //button number + bhit = blue.getc(); //1=hit, 0=release + if (blue.getc()==char(~('!' + 'B' + bnum + bhit))) { //checksum OK? + // myled = bnum - '0'; //current button number will appear on LEDs + switch (bnum) { + case '1': //number button 1 + if (bhit=='1') { + A.speed(0); + B.speed(0); + } else { + //add release code here + } + break; + case '2': //number button 2 + if (bhit=='1') { + //add hit code here + } else { + //add release code here + } + break; + case '3': //number button 3 + if (bhit=='1') { + //add hit code here + } else { + //add release code here + } + break; + case '4': //number button 4 + if (bhit=='1') { + //add hit code here + } else { + //add release code here + } + break; + case '5': //button 5 up arrow + if (bhit=='1') { + A.speed(1); + B.speed(1); + wait(0.02); + } else { + //add release code here + } + break; + case '6': //button 6 down arrow + if (bhit=='1') { + A.speed(-1); + B.speed(-1); + wait(0.02); + } else { + //add release code here + } + break; + case '7': //button 7 left arrow + if (bhit=='1') { + A.speed(-1); + B.speed(1); + wait(0.02); + } else { + //add release code here + } + break; + case '8': //button 8 right arrow + if (bhit=='1') { + A.speed(1); + B.speed(-1); + wait(0.02); + } else { + //add release code here + } + break; + default: + A.speed(0.3); + B.speed(0.3); + break; + } + } + } + } + } +} \ No newline at end of file
diff -r 000000000000 -r fded9bf799e2 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Mar 14 15:49:33 2017 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/e1686b8d5b90 \ No newline at end of file