wallbot.h

00001 /* mbed wallbot Library
00002  *
00003  * wallbot.h
00004  *
00005  * Copyright (c) 2010-2013 jksoft
00006  *
00007  * Permission is hereby granted, free of charge, to any person obtaining a copy
00008  * of this software and associated documentation files (the "Software"), to deal
00009  * in the Software without restriction, including without limitation the rights
00010  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00011  * copies of the Software, and to permit persons to whom the Software is
00012  * furnished to do so, subject to the following conditions:
00013  *
00014  * The above copyright notice and this permission notice shall be included in
00015  * all copies or substantial portions of the Software.
00016  *
00017  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00018  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00019  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00020  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00021  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00022  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00023  * THE SOFTWARE.
00024  */
00025 
00026 #ifndef WALLBOT_H
00027 #define WALLBOT_H
00028 
00029 #include "mbed.h"
00030 #include "HighSpeedAnalogIn.h"
00031 #include "EthernetPowerControl.h"
00032 #include "TB6612.h"
00033 
00034 #define SENSOR_NOMAL    0
00035 #define SENSOR_EXT      1
00036 #define SENSOR_THRESHOLD 2500
00037 /** wallbot control class
00038  *
00039  * Example:
00040  * @code
00041  * // Drive the wwallbot forward, turn left, back, turn right, at half speed for half a second
00042 
00043 #include "mbed.h"
00044 #include "wallbot.h"
00045 
00046 wallbot wb;
00047  
00048 int main() {
00049 
00050     wait(0.5);
00051     
00052     wb.forward(0.5);
00053     wait (0.5);
00054     wb.left(0.5);
00055     wait (0.5);
00056     wb.backward(0.5);
00057     wait (0.5);
00058     wb.right(0.5);
00059     wait (0.5);
00060     
00061     wb.stop();
00062 
00063  }
00064  * @endcode
00065  */
00066 class wallbot  {
00067 
00068     // Public functions
00069 public:
00070 
00071     /** Create the wallbot object connected to the default pins
00072      */
00073     wallbot();
00074 
00075     /** Directly control the speed and direction of the left motor
00076      *
00077      * @param speed A normalised number -1.0 - 1.0 represents the full range.
00078      */
00079     void left_motor (float speed);
00080 
00081     /** Directly control the speed and direction of the right motor
00082      *
00083      * @param speed A normalised number -1.0 - 1.0 represents the full range.
00084      */
00085     void right_motor (float speed);
00086 
00087     /** Drive both motors forward as the same speed
00088      *
00089      * @param speed A normalised number 0 - 1.0 represents the full range.
00090      */
00091     void forward (float speed);
00092 
00093     /** Drive both motors backward as the same speed
00094      *
00095      * @param speed A normalised number 0 - 1.0 represents the full range.
00096      */
00097     void backward (float speed);
00098 
00099     /** Drive left motor backwards and right motor forwards at the same speed to turn on the spot
00100      *
00101      * @param speed A normalised number 0 - 1.0 represents the full range.
00102      */
00103     void left (float speed);
00104 
00105     /** Drive left motor forward and right motor backwards at the same speed to turn on the spot
00106      * @param speed A normalised number 0 - 1.0 represents the full range.
00107      */
00108     void right (float speed);
00109 
00110     /** Stop both motors
00111      *
00112      */
00113     void stop (void);
00114     
00115     /** Get floorline position.(float value return.)
00116      *
00117      */ 
00118     float GetLinePosition(void);
00119 
00120     /** Get floorline position.(bit value return.)
00121      *
00122      */ 
00123     void GetLinePosition(int *bit);
00124     
00125     /** Get left switch .(switch OFF:0 or ON:1 return.)
00126      *
00127      */ 
00128     int GetLeftSw(void);
00129 
00130     /** Get GetRightSw switch .(switch OFF:0 or ON:1 return.)
00131      *
00132      */ 
00133     int GetRightSw(void);
00134     
00135     private :
00136 
00137     TB6612 _right;
00138     TB6612 _left;
00139 
00140     HighSpeedAnalogIn _ain;
00141     
00142     DigitalIn _left_sw;
00143     DigitalIn _right_sw;
00144 
00145     int _floorSensorThreshold;
00146     
00147 };
00148 
00149 #endif