Diff: wallbot.cpp

Revision:

0:f8571ffd252a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/wallbot.cpp	Sun Jul 28 08:20:17 2013 +0000
@@ -0,0 +1,127 @@
+/* wallbot Library
+ *
+ * wallbot.cpp
+ *
+ * Copyright (c) 2010-2013 jksoft
+ *
+ * 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 "mbed.h"
+#include "wallbot.h"
+
+
+wallbot::wallbot() :  _right(p22,p14,p13) , _left(p21,p12,p11) , _ain(p15, p16, p17, p18), _left_sw(p29),_right_sw(p30)  {
+    PHY_PowerDown();
+
+	_right = 0.0;
+    _left = 0.0;
+	
+	_left_sw.mode(PullUp);
+	_right_sw.mode(PullUp);
+	
+	_floorSensorThreshold = SENSOR_THRESHOLD;
+}
+
+void wallbot::left_motor (float speed) {
+    _left = speed;
+}
+
+void wallbot::right_motor (float speed) {
+    _right = speed;
+}
+
+void wallbot::forward (float speed) {
+    _left = speed;
+	_right = speed;
+}
+
+void wallbot::backward (float speed) {
+    _left = -1.0*speed;
+	_right = -1.0*speed;
+}
+
+void wallbot::left (float speed) {
+    _left = -1.0*speed;
+	_right = speed;
+}
+
+void wallbot::right (float speed) {
+    _left = speed;
+	_right = -1.0*speed;
+}
+
+void wallbot::stop (void) {
+    _right = 0.0;
+    _left = 0.0;
+}
+
+
+float wallbot::GetLinePosition(void) {
+    float ret = 0.0;
+    int bit = 0;
+    int value[4];
+    
+    value[0] = _ain.read_u16(p15);
+    value[1] = _ain.read_u16(p16);
+    value[2] = _ain.read_u16(p17);
+    value[3] = _ain.read_u16(p18);
+    
+    if( value[0] > _floorSensorThreshold ) bit |= 0x01;
+    if( value[1] > _floorSensorThreshold ) bit |= 0x02;
+    if( value[2] > _floorSensorThreshold ) bit |= 0x04;
+    if( value[3] > _floorSensorThreshold ) bit |= 0x08;
+    
+    switch(bit)
+    {
+    case 0x01:    ret = 1.0;      break;
+    case 0x03:    ret = 0.66;     break;
+    case 0x02:    ret = 0.33;     break;
+    case 0x04:    ret = -0.33;    break;
+    case 0x0C:    ret = -0.66;    break;
+    case 0x08:    ret = -1.0;     break;
+    default:    ret = 0.0;        break;
+    }
+    
+    return(ret);
+}
+
+void wallbot::GetLinePosition(int *bit) {
+    int value[4];
+    
+    *bit = 0;
+    
+    value[0] = _ain.read_u16(p15);
+    value[1] = _ain.read_u16(p16);
+    value[2] = _ain.read_u16(p17);
+    value[3] = _ain.read_u16(p18);
+    
+    if( value[0] > _floorSensorThreshold ) *bit |= 0x01;
+    if( value[1] > _floorSensorThreshold ) *bit |= 0x02;
+    if( value[2] > _floorSensorThreshold ) *bit |= 0x04;
+    if( value[3] > _floorSensorThreshold ) *bit |= 0x08;
+}
+
+int wallbot::GetLeftSw(void) {
+	return(!_left_sw);
+}
+
+int wallbot::GetRightSw(void) {
+	return(!_right_sw);
+}