Diff: mBot_lib/mBot.h

Revision:

0:865d42c46692

diff -r 000000000000 -r 865d42c46692 mBot_lib/mBot.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mBot_lib/mBot.h	Tue Nov 25 14:34:47 2014 +0000
@@ -0,0 +1,110 @@
+/*
+** This software can be freely used, even comercially, as highlighted in the license.
+** 
+** Copyright 2014 GHI Electronics, LLC
+** 
+** Licensed under the Apache License, Version 2.0 (the "License");
+** you may not use this file except in compliance with the License.
+** You may obtain a copy of the License at
+** 
+**     http://www.apache.org/licenses/LICENSE-2.0
+** 
+** Unless required by applicable law or agreed to in writing, software
+** distributed under the License is distributed on an "AS IS" BASIS,
+** WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+** See the License for the specific language governing permissions and
+** limitations under the License.
+**
+**/
+
+#pragma once
+#include <string>
+#include "mbed.h"
+
+
+class mBot
+{
+
+public:  // constructors, enums
+	mBot();
+
+	
+	typedef enum
+	{
+		/// <summary>
+		/// Represents the left sensor.
+		/// </summary>
+		Left,
+
+		/// <summary>
+		/// Represents the right sensor.
+		/// </summary>
+		Right
+	} ReflectiveSensors;	
+	
+private: // fields
+	static const float MOTOR_BASE_PERIOD = 0.00001;  // 100KHz
+
+	static PwmOut *leftMotor;
+	static PwmOut *rightMotor;
+	
+	static DigitalOut *leftMotorDirectionCtrl_1;
+	static DigitalOut *leftMotorDirectionCtrl_2;
+	
+	static DigitalOut *rightMotorDirectionCtrl_1;
+	static DigitalOut *rightMotorDirectionCtrl_2;
+
+	static bool leftMotorInverted;
+	static bool rightMotorInverted;
+	
+	static AnalogIn *leftSensor;
+	static AnalogIn *rightSensor;
+	static DigitalOut *leftIRLED;
+	static DigitalOut *rightIRLED;
+	
+
+public:  // methods ....
+
+	/// <summary>
+	/// Gets the reading from a reflective sensor between 0 and 1024 (10 bit resolution). The higher the number, 
+	/// the more reflection that was detected. Nearby objects reflect more than far objects.
+	/// </summary>
+	/// <param name="sensor">The sensor to read from.</param>
+	static float GetReflectiveReading(ReflectiveSensors sensor);
+
+	/// <summary>
+	/// Turns the reflective sensors on or off to save power (1 = on, 0 = off). They are on by default.
+	/// </summary>
+	static  void SetReflectiveSensorState(int state);
+
+
+	/// <summary>
+	/// The reflective sensors on the mBot.
+	/// </summary>
+	/// <summary>
+	/// Sets the period and duration that the buzzer will buzz for.
+	/// </summary>
+	/// <param name="period">The period that the buzzer will buzz in hertz.</param>
+	/// <param name="duration">The duration the buzzer will buzz for in milliseconds.</param>
+	/// <param name="dutyCycle">The duty cycle for the buzzer.</param>
+	/// <remarks>If duration is 0, the buzzer will buzz indefinitely. If it is non-zero, then mBot call will block for as many milliseconds as specified in duration, then return.</remarks>
+
+	/// <summary>
+	/// Sets the speed of the motor. -100 is full speed backwards, 100 is full speed forward, and 0 is stopped.
+	/// </summary>
+	/// <param name="leftSpeed">The new speed of the left motor.</param>
+	/// <param name="rightSpeed">The new speed of the right motor.</param>
+	static void SetMotorSpeed(int leftSpeed, int rightSpeed);
+	
+	/// <summary>
+	/// Change the wheel directions (useful if you want to treat the batteries as the back of the robot and the wheels as the front).
+	/// </summary>
+	/// <param name="invertLeft">true then inverted.</param>
+	/// <param name="invertRight">true then inverted.</param>
+	static void SetMotorInversion(bool invertLeft, bool invertRight);
+	
+
+private:
+	static void SetSpeed(PwmOut *motor, DigitalOut *directionCtrl_1,  DigitalOut *directionCtrl_2, int speed);  //, bool isLeft);
+};
+