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

--- /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

--- /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

--- /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

--- /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

--- /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

--- /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