It is a library for controlling Wallbot
wallbot.cpp@0:f8571ffd252a, 2013-07-28 (annotated)
- Committer:
- jksoft
- Date:
- Sun Jul 28 08:20:17 2013 +0000
- Revision:
- 0:f8571ffd252a
First
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jksoft | 0:f8571ffd252a | 1 | /* wallbot Library |
jksoft | 0:f8571ffd252a | 2 | * |
jksoft | 0:f8571ffd252a | 3 | * wallbot.cpp |
jksoft | 0:f8571ffd252a | 4 | * |
jksoft | 0:f8571ffd252a | 5 | * Copyright (c) 2010-2013 jksoft |
jksoft | 0:f8571ffd252a | 6 | * |
jksoft | 0:f8571ffd252a | 7 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
jksoft | 0:f8571ffd252a | 8 | * of this software and associated documentation files (the "Software"), to deal |
jksoft | 0:f8571ffd252a | 9 | * in the Software without restriction, including without limitation the rights |
jksoft | 0:f8571ffd252a | 10 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
jksoft | 0:f8571ffd252a | 11 | * copies of the Software, and to permit persons to whom the Software is |
jksoft | 0:f8571ffd252a | 12 | * furnished to do so, subject to the following conditions: |
jksoft | 0:f8571ffd252a | 13 | * |
jksoft | 0:f8571ffd252a | 14 | * The above copyright notice and this permission notice shall be included in |
jksoft | 0:f8571ffd252a | 15 | * all copies or substantial portions of the Software. |
jksoft | 0:f8571ffd252a | 16 | * |
jksoft | 0:f8571ffd252a | 17 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
jksoft | 0:f8571ffd252a | 18 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
jksoft | 0:f8571ffd252a | 19 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
jksoft | 0:f8571ffd252a | 20 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
jksoft | 0:f8571ffd252a | 21 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
jksoft | 0:f8571ffd252a | 22 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
jksoft | 0:f8571ffd252a | 23 | * THE SOFTWARE. |
jksoft | 0:f8571ffd252a | 24 | */ |
jksoft | 0:f8571ffd252a | 25 | |
jksoft | 0:f8571ffd252a | 26 | #include "mbed.h" |
jksoft | 0:f8571ffd252a | 27 | #include "wallbot.h" |
jksoft | 0:f8571ffd252a | 28 | |
jksoft | 0:f8571ffd252a | 29 | |
jksoft | 0:f8571ffd252a | 30 | wallbot::wallbot() : _right(p22,p14,p13) , _left(p21,p12,p11) , _ain(p15, p16, p17, p18), _left_sw(p29),_right_sw(p30) { |
jksoft | 0:f8571ffd252a | 31 | PHY_PowerDown(); |
jksoft | 0:f8571ffd252a | 32 | |
jksoft | 0:f8571ffd252a | 33 | _right = 0.0; |
jksoft | 0:f8571ffd252a | 34 | _left = 0.0; |
jksoft | 0:f8571ffd252a | 35 | |
jksoft | 0:f8571ffd252a | 36 | _left_sw.mode(PullUp); |
jksoft | 0:f8571ffd252a | 37 | _right_sw.mode(PullUp); |
jksoft | 0:f8571ffd252a | 38 | |
jksoft | 0:f8571ffd252a | 39 | _floorSensorThreshold = SENSOR_THRESHOLD; |
jksoft | 0:f8571ffd252a | 40 | } |
jksoft | 0:f8571ffd252a | 41 | |
jksoft | 0:f8571ffd252a | 42 | void wallbot::left_motor (float speed) { |
jksoft | 0:f8571ffd252a | 43 | _left = speed; |
jksoft | 0:f8571ffd252a | 44 | } |
jksoft | 0:f8571ffd252a | 45 | |
jksoft | 0:f8571ffd252a | 46 | void wallbot::right_motor (float speed) { |
jksoft | 0:f8571ffd252a | 47 | _right = speed; |
jksoft | 0:f8571ffd252a | 48 | } |
jksoft | 0:f8571ffd252a | 49 | |
jksoft | 0:f8571ffd252a | 50 | void wallbot::forward (float speed) { |
jksoft | 0:f8571ffd252a | 51 | _left = speed; |
jksoft | 0:f8571ffd252a | 52 | _right = speed; |
jksoft | 0:f8571ffd252a | 53 | } |
jksoft | 0:f8571ffd252a | 54 | |
jksoft | 0:f8571ffd252a | 55 | void wallbot::backward (float speed) { |
jksoft | 0:f8571ffd252a | 56 | _left = -1.0*speed; |
jksoft | 0:f8571ffd252a | 57 | _right = -1.0*speed; |
jksoft | 0:f8571ffd252a | 58 | } |
jksoft | 0:f8571ffd252a | 59 | |
jksoft | 0:f8571ffd252a | 60 | void wallbot::left (float speed) { |
jksoft | 0:f8571ffd252a | 61 | _left = -1.0*speed; |
jksoft | 0:f8571ffd252a | 62 | _right = speed; |
jksoft | 0:f8571ffd252a | 63 | } |
jksoft | 0:f8571ffd252a | 64 | |
jksoft | 0:f8571ffd252a | 65 | void wallbot::right (float speed) { |
jksoft | 0:f8571ffd252a | 66 | _left = speed; |
jksoft | 0:f8571ffd252a | 67 | _right = -1.0*speed; |
jksoft | 0:f8571ffd252a | 68 | } |
jksoft | 0:f8571ffd252a | 69 | |
jksoft | 0:f8571ffd252a | 70 | void wallbot::stop (void) { |
jksoft | 0:f8571ffd252a | 71 | _right = 0.0; |
jksoft | 0:f8571ffd252a | 72 | _left = 0.0; |
jksoft | 0:f8571ffd252a | 73 | } |
jksoft | 0:f8571ffd252a | 74 | |
jksoft | 0:f8571ffd252a | 75 | |
jksoft | 0:f8571ffd252a | 76 | float wallbot::GetLinePosition(void) { |
jksoft | 0:f8571ffd252a | 77 | float ret = 0.0; |
jksoft | 0:f8571ffd252a | 78 | int bit = 0; |
jksoft | 0:f8571ffd252a | 79 | int value[4]; |
jksoft | 0:f8571ffd252a | 80 | |
jksoft | 0:f8571ffd252a | 81 | value[0] = _ain.read_u16(p15); |
jksoft | 0:f8571ffd252a | 82 | value[1] = _ain.read_u16(p16); |
jksoft | 0:f8571ffd252a | 83 | value[2] = _ain.read_u16(p17); |
jksoft | 0:f8571ffd252a | 84 | value[3] = _ain.read_u16(p18); |
jksoft | 0:f8571ffd252a | 85 | |
jksoft | 0:f8571ffd252a | 86 | if( value[0] > _floorSensorThreshold ) bit |= 0x01; |
jksoft | 0:f8571ffd252a | 87 | if( value[1] > _floorSensorThreshold ) bit |= 0x02; |
jksoft | 0:f8571ffd252a | 88 | if( value[2] > _floorSensorThreshold ) bit |= 0x04; |
jksoft | 0:f8571ffd252a | 89 | if( value[3] > _floorSensorThreshold ) bit |= 0x08; |
jksoft | 0:f8571ffd252a | 90 | |
jksoft | 0:f8571ffd252a | 91 | switch(bit) |
jksoft | 0:f8571ffd252a | 92 | { |
jksoft | 0:f8571ffd252a | 93 | case 0x01: ret = 1.0; break; |
jksoft | 0:f8571ffd252a | 94 | case 0x03: ret = 0.66; break; |
jksoft | 0:f8571ffd252a | 95 | case 0x02: ret = 0.33; break; |
jksoft | 0:f8571ffd252a | 96 | case 0x04: ret = -0.33; break; |
jksoft | 0:f8571ffd252a | 97 | case 0x0C: ret = -0.66; break; |
jksoft | 0:f8571ffd252a | 98 | case 0x08: ret = -1.0; break; |
jksoft | 0:f8571ffd252a | 99 | default: ret = 0.0; break; |
jksoft | 0:f8571ffd252a | 100 | } |
jksoft | 0:f8571ffd252a | 101 | |
jksoft | 0:f8571ffd252a | 102 | return(ret); |
jksoft | 0:f8571ffd252a | 103 | } |
jksoft | 0:f8571ffd252a | 104 | |
jksoft | 0:f8571ffd252a | 105 | void wallbot::GetLinePosition(int *bit) { |
jksoft | 0:f8571ffd252a | 106 | int value[4]; |
jksoft | 0:f8571ffd252a | 107 | |
jksoft | 0:f8571ffd252a | 108 | *bit = 0; |
jksoft | 0:f8571ffd252a | 109 | |
jksoft | 0:f8571ffd252a | 110 | value[0] = _ain.read_u16(p15); |
jksoft | 0:f8571ffd252a | 111 | value[1] = _ain.read_u16(p16); |
jksoft | 0:f8571ffd252a | 112 | value[2] = _ain.read_u16(p17); |
jksoft | 0:f8571ffd252a | 113 | value[3] = _ain.read_u16(p18); |
jksoft | 0:f8571ffd252a | 114 | |
jksoft | 0:f8571ffd252a | 115 | if( value[0] > _floorSensorThreshold ) *bit |= 0x01; |
jksoft | 0:f8571ffd252a | 116 | if( value[1] > _floorSensorThreshold ) *bit |= 0x02; |
jksoft | 0:f8571ffd252a | 117 | if( value[2] > _floorSensorThreshold ) *bit |= 0x04; |
jksoft | 0:f8571ffd252a | 118 | if( value[3] > _floorSensorThreshold ) *bit |= 0x08; |
jksoft | 0:f8571ffd252a | 119 | } |
jksoft | 0:f8571ffd252a | 120 | |
jksoft | 0:f8571ffd252a | 121 | int wallbot::GetLeftSw(void) { |
jksoft | 0:f8571ffd252a | 122 | return(!_left_sw); |
jksoft | 0:f8571ffd252a | 123 | } |
jksoft | 0:f8571ffd252a | 124 | |
jksoft | 0:f8571ffd252a | 125 | int wallbot::GetRightSw(void) { |
jksoft | 0:f8571ffd252a | 126 | return(!_right_sw); |
jksoft | 0:f8571ffd252a | 127 | } |