Diff: wallbot.h

Revision:

0:f8571ffd252a

diff -r 000000000000 -r f8571ffd252a wallbot.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/wallbot.h	Sun Jul 28 08:20:17 2013 +0000
@@ -0,0 +1,149 @@
+/* mbed wallbot Library
+ *
+ * wallbot.h
+ *
+ * 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.
+ */
+
+#ifndef WALLBOT_H
+#define WALLBOT_H
+
+#include "mbed.h"
+#include "HighSpeedAnalogIn.h"
+#include "EthernetPowerControl.h"
+#include "TB6612.h"
+
+#define SENSOR_NOMAL	0
+#define SENSOR_EXT		1
+#define SENSOR_THRESHOLD 2500
+/** wallbot control class
+ *
+ * Example:
+ * @code
+ * // Drive the wwallbot forward, turn left, back, turn right, at half speed for half a second
+
+#include "mbed.h"
+#include "wallbot.h"
+
+wallbot wb;
+ 
+int main() {
+
+	wait(0.5);
+	
+	wb.forward(0.5);
+	wait (0.5);
+	wb.left(0.5);
+	wait (0.5);
+	wb.backward(0.5);
+	wait (0.5);
+	wb.right(0.5);
+	wait (0.5);
+	
+	wb.stop();
+
+ }
+ * @endcode
+ */
+class wallbot  {
+
+    // Public functions
+public:
+
+    /** Create the wallbot object connected to the default pins
+     */
+    wallbot();
+
+    /** Directly control the speed and direction of the left motor
+     *
+     * @param speed A normalised number -1.0 - 1.0 represents the full range.
+     */
+    void left_motor (float speed);
+
+    /** Directly control the speed and direction of the right motor
+     *
+     * @param speed A normalised number -1.0 - 1.0 represents the full range.
+     */
+    void right_motor (float speed);
+
+    /** Drive both motors forward as the same speed
+     *
+     * @param speed A normalised number 0 - 1.0 represents the full range.
+     */
+    void forward (float speed);
+
+    /** Drive both motors backward as the same speed
+     *
+     * @param speed A normalised number 0 - 1.0 represents the full range.
+     */
+    void backward (float speed);
+
+    /** Drive left motor backwards and right motor forwards at the same speed to turn on the spot
+     *
+     * @param speed A normalised number 0 - 1.0 represents the full range.
+     */
+    void left (float speed);
+
+    /** Drive left motor forward and right motor backwards at the same speed to turn on the spot
+     * @param speed A normalised number 0 - 1.0 represents the full range.
+     */
+    void right (float speed);
+
+    /** Stop both motors
+     *
+     */
+    void stop (void);
+	
+    /** Get floorline position.(float value return.)
+     *
+     */	
+	float GetLinePosition(void);
+
+    /** Get floorline position.(bit value return.)
+     *
+     */	
+	void GetLinePosition(int *bit);
+	
+    /** Get left switch .(switch OFF:0 or ON:1 return.)
+     *
+     */	
+	int GetLeftSw(void);
+
+    /** Get GetRightSw switch .(switch OFF:0 or ON:1 return.)
+     *
+     */	
+	int GetRightSw(void);
+	
+	private :
+
+	TB6612 _right;
+	TB6612 _left;
+
+	HighSpeedAnalogIn _ain;
+	
+	DigitalIn _left_sw;
+	DigitalIn _right_sw;
+
+	int _floorSensorThreshold;
+    
+};
+
+#endif
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