Diff: wallbotLED/wallbotLED.h

Revision:

0:9fcc79b3f00e

Child:

3:b707c09b4433

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/wallbotLED/wallbotLED.h	Fri Feb 03 06:26:54 2017 +0000
@@ -0,0 +1,218 @@
+/* JKsoft Wallbot LED Library
+ *
+ * wallbotLED.h
+ *
+ * Copyright (c) 2010-2016 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 LIALED 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_LED_H
+#define WALLBOT_LED_H
+
+#include "mbed.h"
+#include "I2Cdev.h"
+#include "TB6612.h"
+#include "MPU6050.h"
+#include "Adafruit_LEDBackpack.h"
+#include "Adafruit_GFX.h"
+
+#define SENSOR_VAL_GAIN_DEFAULT	100
+#define SENSOR_VAL_DEFAULT		950
+
+/** wallbot LED control class
+ *
+ * Example:
+ * @code
+ * // Drive the wwallbot forward, turn left, back, turn right, at half speed for half a second
+
+#include "mbed.h"
+#include "wallbotLED.h"
+
+wallbotLED wb;
+ 
+int main() {
+
+    wb.sensor_calibrate();
+
+    while(!wb.GetSw())
+    {
+        wb.set_led(wb.GetLinePosition());
+    }
+    
+    wb.forward(1.0);
+    wait (1.0);
+    wb.left(1.0);
+    wait (1.0);
+    wb.backward(1.0);
+    wait (1.0);
+    wb.right(1.0);
+    wait (1.0);
+    
+    wb.stop();
+
+    while(1);
+
+ }
+
+ * @endcode
+ */
+class wallbotLED  {
+
+    // Public functions
+public:
+
+    /** Create the wallbot object connected to the default pins
+     */
+    wallbotLED();
+    
+    /** Set Sensor gain.
+     *
+     * @param Sensor gain.
+     */
+	void SetFloorSensorGain(int gain);
+    /** Sensor calibrate
+     *
+     */
+    void FloorSensorCalibrate (void);
+
+    /** Directly control the speed and direction of the left motor
+     *
+     * @param speed A normalised number -1.0 - 1.0 represents the full range.
+     */
+    void driveLeftMotor(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.
+     * @param speed A normalised number -1.0 - 1.0 represents the full range.
+     */
+    void driveMotor(float r_speed,float l_speed);
+
+    /** Directly control the speed and direction of the right motor
+     *
+     * @param speed A normalised number -100 - 100 represents the full range.
+     * @param speed A normalised number -100 - 100 represents the full range.
+     */
+    void driveMotor(int r_speed,int l_speed);
+	
+    /** Drive both motors
+     *
+     * @param speed A normalised number -1.0 - 1.0 represents the full range.
+     */
+    void driveRightMotor(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 leftTurn(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 rightTurn(float speed);
+
+    /** Stop both motors
+     *
+     */
+    void stop(void);
+	
+    /** Get floorline position.(int value return.)
+     *
+     */	
+	int GetLinePosition(void);
+	
+    /** Get switch .(switch OFF:0 or ON:1 return.)
+     *
+     */	
+	int GetSw(void);
+	bool GetSw1(void);
+	bool GetSw2(void);
+	
+    /** Set status led .
+     * @param led (bit0:LEFT bit2:RIGHT)
+     */	
+	void SetLed(int bit);
+
+    /** Set led1 .
+     * @param led (0:off,1:on)
+     */	
+	void SetLed1(int bit);
+
+    /** Set led2 .
+     * @param led (0:off,1:on)
+     */	
+	void SetLed2(int bit);
+	
+	bool GetFloorSensor1();
+	bool GetFloorSensor2();
+	bool GetFloorSensor3();
+	bool GetFloorSensor4();
+	
+	uint16_t GetFloorSensorRaw1();
+	uint16_t GetFloorSensorRaw2();
+	uint16_t GetFloorSensorRaw3();
+	uint16_t GetFloorSensorRaw4();
+	
+	void GetAcceleration(float *x,float *y,float *z);
+	float GetAccelerationX();
+	float GetAccelerationY();
+	float GetAccelerationZ();
+	
+	void GetGyro(float *x,float *y,float *z);
+	float GetGyroX();
+	float GetGyroY();
+	float GetGyroZ();
+	
+	void SetLedPanel(char data[][16]);
+	void SetLedPanel(int x, int y, int flag);
+	
+private :
+
+	TB6612 _right;
+	TB6612 _left;
+	MPU6050 _mpu;
+	I2C _i2c;
+	Adafruit_8x8matrix _matrix1;
+	Adafruit_8x8matrix _matrix2;
+	BusIn _sw;
+	DigitalOut _outlow;
+	BusOut _statusled;
+	AnalogIn _f_sensor1;
+	AnalogIn _f_sensor2;
+	AnalogIn _f_sensor3;
+	AnalogIn _f_sensor4;
+	int _sensor_gain;
+	int _sensor_def[4];  
+};
+
+#endif
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