Junichi Katsu / Mbed 2 deprecated wallbotLED_base

うおーるぼっとLEDのワークショップ用

Dependencies:   mbed

wallbotLED/wallbotLED.h@3:b707c09b4433, 2017-02-04 (annotated)

Committer:
jksoft
Date:
Sat Feb 04 03:33:08 2017 +0000
Revision:
3:b707c09b4433
Parent:
0:9fcc79b3f00e 
????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jksoft 0:9fcc79b3f00e 1 /* JKsoft Wallbot LED Library
jksoft 0:9fcc79b3f00e 2 *
jksoft 0:9fcc79b3f00e 3 * wallbotLED.h
jksoft 0:9fcc79b3f00e 4 *
jksoft 0:9fcc79b3f00e 5 * Copyright (c) 2010-2016 jksoft
jksoft 0:9fcc79b3f00e 6 *
jksoft 0:9fcc79b3f00e 7 * Permission is hereby granted, free of charge, to any person obtaining a copy
jksoft 0:9fcc79b3f00e 8 * of this software and associated documentation files (the "Software"), to deal
jksoft 0:9fcc79b3f00e 9 * in the Software without restriction, including without limitation the rights
jksoft 0:9fcc79b3f00e 10 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
jksoft 0:9fcc79b3f00e 11 * copies of the Software, and to permit persons to whom the Software is
jksoft 0:9fcc79b3f00e 12 * furnished to do so, subject to the following conditions:
jksoft 0:9fcc79b3f00e 13 *
jksoft 0:9fcc79b3f00e 14 * The above copyright notice and this permission notice shall be included in
jksoft 0:9fcc79b3f00e 15 * all copies or substantial portions of the Software.
jksoft 0:9fcc79b3f00e 16 *
jksoft 0:9fcc79b3f00e 17 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
jksoft 0:9fcc79b3f00e 18 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
jksoft 0:9fcc79b3f00e 19 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
jksoft 0:9fcc79b3f00e 20 * AUTHORS OR COPYRIGHT HOLDERS BE LIALED FOR ANY CLAIM, DAMAGES OR OTHER
jksoft 0:9fcc79b3f00e 21 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
jksoft 0:9fcc79b3f00e 22 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
jksoft 0:9fcc79b3f00e 23 * THE SOFTWARE.
jksoft 0:9fcc79b3f00e 24 */
jksoft 0:9fcc79b3f00e 25
jksoft 0:9fcc79b3f00e 26 #ifndef WALLBOT_LED_H
jksoft 0:9fcc79b3f00e 27 #define WALLBOT_LED_H
jksoft 0:9fcc79b3f00e 28
jksoft 0:9fcc79b3f00e 29 #include "mbed.h"
jksoft 0:9fcc79b3f00e 30 #include "I2Cdev.h"
jksoft 0:9fcc79b3f00e 31 #include "TB6612.h"
jksoft 0:9fcc79b3f00e 32 #include "MPU6050.h"
jksoft 0:9fcc79b3f00e 33 #include "Adafruit_LEDBackpack.h"
jksoft 0:9fcc79b3f00e 34 #include "Adafruit_GFX.h"
jksoft 0:9fcc79b3f00e 35
jksoft 3:b707c09b4433 36 #define SENSOR_VAL_GAIN_DEFAULT 300
jksoft 3:b707c09b4433 37 #define SENSOR_VAL_DEFAULT 800
jksoft 0:9fcc79b3f00e 38
jksoft 0:9fcc79b3f00e 39 /** wallbot LED control class
jksoft 0:9fcc79b3f00e 40 *
jksoft 0:9fcc79b3f00e 41 * Example:
jksoft 0:9fcc79b3f00e 42 * @code
jksoft 0:9fcc79b3f00e 43 * // Drive the wwallbot forward, turn left, back, turn right, at half speed for half a second
jksoft 0:9fcc79b3f00e 44
jksoft 0:9fcc79b3f00e 45 #include "mbed.h"
jksoft 0:9fcc79b3f00e 46 #include "wallbotLED.h"
jksoft 0:9fcc79b3f00e 47
jksoft 0:9fcc79b3f00e 48 wallbotLED wb;
jksoft 0:9fcc79b3f00e 49
jksoft 0:9fcc79b3f00e 50 int main() {
jksoft 0:9fcc79b3f00e 51
jksoft 0:9fcc79b3f00e 52 wb.sensor_calibrate();
jksoft 0:9fcc79b3f00e 53
jksoft 0:9fcc79b3f00e 54 while(!wb.GetSw())
jksoft 0:9fcc79b3f00e 55 {
jksoft 0:9fcc79b3f00e 56 wb.set_led(wb.GetLinePosition());
jksoft 0:9fcc79b3f00e 57 }
jksoft 0:9fcc79b3f00e 58
jksoft 0:9fcc79b3f00e 59 wb.forward(1.0);
jksoft 0:9fcc79b3f00e 60 wait (1.0);
jksoft 0:9fcc79b3f00e 61 wb.left(1.0);
jksoft 0:9fcc79b3f00e 62 wait (1.0);
jksoft 0:9fcc79b3f00e 63 wb.backward(1.0);
jksoft 0:9fcc79b3f00e 64 wait (1.0);
jksoft 0:9fcc79b3f00e 65 wb.right(1.0);
jksoft 0:9fcc79b3f00e 66 wait (1.0);
jksoft 0:9fcc79b3f00e 67
jksoft 0:9fcc79b3f00e 68 wb.stop();
jksoft 0:9fcc79b3f00e 69
jksoft 0:9fcc79b3f00e 70 while(1);
jksoft 0:9fcc79b3f00e 71
jksoft 0:9fcc79b3f00e 72 }
jksoft 0:9fcc79b3f00e 73
jksoft 0:9fcc79b3f00e 74 * @endcode
jksoft 0:9fcc79b3f00e 75 */
jksoft 0:9fcc79b3f00e 76 class wallbotLED {
jksoft 0:9fcc79b3f00e 77
jksoft 0:9fcc79b3f00e 78 // Public functions
jksoft 0:9fcc79b3f00e 79 public:
jksoft 0:9fcc79b3f00e 80
jksoft 0:9fcc79b3f00e 81 /** Create the wallbot object connected to the default pins
jksoft 0:9fcc79b3f00e 82 */
jksoft 0:9fcc79b3f00e 83 wallbotLED();
jksoft 0:9fcc79b3f00e 84
jksoft 0:9fcc79b3f00e 85 /** Set Sensor gain.
jksoft 0:9fcc79b3f00e 86 *
jksoft 0:9fcc79b3f00e 87 * @param Sensor gain.
jksoft 0:9fcc79b3f00e 88 */
jksoft 0:9fcc79b3f00e 89 void SetFloorSensorGain(int gain);
jksoft 0:9fcc79b3f00e 90 /** Sensor calibrate
jksoft 0:9fcc79b3f00e 91 *
jksoft 0:9fcc79b3f00e 92 */
jksoft 0:9fcc79b3f00e 93 void FloorSensorCalibrate (void);
jksoft 0:9fcc79b3f00e 94
jksoft 0:9fcc79b3f00e 95 /** Directly control the speed and direction of the left motor
jksoft 0:9fcc79b3f00e 96 *
jksoft 0:9fcc79b3f00e 97 * @param speed A normalised number -1.0 - 1.0 represents the full range.
jksoft 0:9fcc79b3f00e 98 */
jksoft 0:9fcc79b3f00e 99 void driveLeftMotor(float speed);
jksoft 0:9fcc79b3f00e 100
jksoft 0:9fcc79b3f00e 101 /** Directly control the speed and direction of the right motor
jksoft 0:9fcc79b3f00e 102 *
jksoft 0:9fcc79b3f00e 103 * @param speed A normalised number -1.0 - 1.0 represents the full range.
jksoft 0:9fcc79b3f00e 104 * @param speed A normalised number -1.0 - 1.0 represents the full range.
jksoft 0:9fcc79b3f00e 105 */
jksoft 0:9fcc79b3f00e 106 void driveMotor(float r_speed,float l_speed);
jksoft 0:9fcc79b3f00e 107
jksoft 0:9fcc79b3f00e 108 /** Directly control the speed and direction of the right motor
jksoft 0:9fcc79b3f00e 109 *
jksoft 0:9fcc79b3f00e 110 * @param speed A normalised number -100 - 100 represents the full range.
jksoft 0:9fcc79b3f00e 111 * @param speed A normalised number -100 - 100 represents the full range.
jksoft 0:9fcc79b3f00e 112 */
jksoft 0:9fcc79b3f00e 113 void driveMotor(int r_speed,int l_speed);
jksoft 0:9fcc79b3f00e 114
jksoft 0:9fcc79b3f00e 115 /** Drive both motors
jksoft 0:9fcc79b3f00e 116 *
jksoft 0:9fcc79b3f00e 117 * @param speed A normalised number -1.0 - 1.0 represents the full range.
jksoft 0:9fcc79b3f00e 118 */
jksoft 0:9fcc79b3f00e 119 void driveRightMotor(float speed);
jksoft 0:9fcc79b3f00e 120
jksoft 0:9fcc79b3f00e 121 /** Drive both motors forward as the same speed
jksoft 0:9fcc79b3f00e 122 *
jksoft 0:9fcc79b3f00e 123 * @param speed A normalised number 0 - 1.0 represents the full range.
jksoft 0:9fcc79b3f00e 124 */
jksoft 0:9fcc79b3f00e 125 void forward(float speed);
jksoft 0:9fcc79b3f00e 126
jksoft 0:9fcc79b3f00e 127 /** Drive both motors backward as the same speed
jksoft 0:9fcc79b3f00e 128 *
jksoft 0:9fcc79b3f00e 129 * @param speed A normalised number 0 - 1.0 represents the full range.
jksoft 0:9fcc79b3f00e 130 */
jksoft 0:9fcc79b3f00e 131 void backward(float speed);
jksoft 0:9fcc79b3f00e 132
jksoft 0:9fcc79b3f00e 133 /** Drive left motor backwards and right motor forwards at the same speed to turn on the spot
jksoft 0:9fcc79b3f00e 134 *
jksoft 0:9fcc79b3f00e 135 * @param speed A normalised number 0 - 1.0 represents the full range.
jksoft 0:9fcc79b3f00e 136 */
jksoft 0:9fcc79b3f00e 137 void leftTurn(float speed);
jksoft 0:9fcc79b3f00e 138
jksoft 0:9fcc79b3f00e 139 /** Drive left motor forward and right motor backwards at the same speed to turn on the spot
jksoft 0:9fcc79b3f00e 140 * @param speed A normalised number 0 - 1.0 represents the full range.
jksoft 0:9fcc79b3f00e 141 */
jksoft 0:9fcc79b3f00e 142 void rightTurn(float speed);
jksoft 0:9fcc79b3f00e 143
jksoft 0:9fcc79b3f00e 144 /** Stop both motors
jksoft 0:9fcc79b3f00e 145 *
jksoft 0:9fcc79b3f00e 146 */
jksoft 0:9fcc79b3f00e 147 void stop(void);
jksoft 0:9fcc79b3f00e 148
jksoft 0:9fcc79b3f00e 149 /** Get floorline position.(int value return.)
jksoft 0:9fcc79b3f00e 150 *
jksoft 0:9fcc79b3f00e 151 */
jksoft 0:9fcc79b3f00e 152 int GetLinePosition(void);
jksoft 0:9fcc79b3f00e 153
jksoft 0:9fcc79b3f00e 154 /** Get switch .(switch OFF:0 or ON:1 return.)
jksoft 0:9fcc79b3f00e 155 *
jksoft 0:9fcc79b3f00e 156 */
jksoft 0:9fcc79b3f00e 157 int GetSw(void);
jksoft 0:9fcc79b3f00e 158 bool GetSw1(void);
jksoft 0:9fcc79b3f00e 159 bool GetSw2(void);
jksoft 0:9fcc79b3f00e 160
jksoft 0:9fcc79b3f00e 161 /** Set status led .
jksoft 0:9fcc79b3f00e 162 * @param led (bit0:LEFT bit2:RIGHT)
jksoft 0:9fcc79b3f00e 163 */
jksoft 0:9fcc79b3f00e 164 void SetLed(int bit);
jksoft 0:9fcc79b3f00e 165
jksoft 0:9fcc79b3f00e 166 /** Set led1 .
jksoft 0:9fcc79b3f00e 167 * @param led (0:off,1:on)
jksoft 0:9fcc79b3f00e 168 */
jksoft 0:9fcc79b3f00e 169 void SetLed1(int bit);
jksoft 0:9fcc79b3f00e 170
jksoft 0:9fcc79b3f00e 171 /** Set led2 .
jksoft 0:9fcc79b3f00e 172 * @param led (0:off,1:on)
jksoft 0:9fcc79b3f00e 173 */
jksoft 0:9fcc79b3f00e 174 void SetLed2(int bit);
jksoft 0:9fcc79b3f00e 175
jksoft 0:9fcc79b3f00e 176 bool GetFloorSensor1();
jksoft 0:9fcc79b3f00e 177 bool GetFloorSensor2();
jksoft 0:9fcc79b3f00e 178 bool GetFloorSensor3();
jksoft 0:9fcc79b3f00e 179 bool GetFloorSensor4();
jksoft 0:9fcc79b3f00e 180
jksoft 0:9fcc79b3f00e 181 uint16_t GetFloorSensorRaw1();
jksoft 0:9fcc79b3f00e 182 uint16_t GetFloorSensorRaw2();
jksoft 0:9fcc79b3f00e 183 uint16_t GetFloorSensorRaw3();
jksoft 0:9fcc79b3f00e 184 uint16_t GetFloorSensorRaw4();
jksoft 0:9fcc79b3f00e 185
jksoft 0:9fcc79b3f00e 186 void GetAcceleration(float *x,float *y,float *z);
jksoft 0:9fcc79b3f00e 187 float GetAccelerationX();
jksoft 0:9fcc79b3f00e 188 float GetAccelerationY();
jksoft 0:9fcc79b3f00e 189 float GetAccelerationZ();
jksoft 0:9fcc79b3f00e 190
jksoft 0:9fcc79b3f00e 191 void GetGyro(float *x,float *y,float *z);
jksoft 0:9fcc79b3f00e 192 float GetGyroX();
jksoft 0:9fcc79b3f00e 193 float GetGyroY();
jksoft 0:9fcc79b3f00e 194 float GetGyroZ();
jksoft 0:9fcc79b3f00e 195
jksoft 0:9fcc79b3f00e 196 void SetLedPanel(char data[][16]);
jksoft 0:9fcc79b3f00e 197 void SetLedPanel(int x, int y, int flag);
jksoft 0:9fcc79b3f00e 198
jksoft 0:9fcc79b3f00e 199 private :
jksoft 0:9fcc79b3f00e 200
jksoft 0:9fcc79b3f00e 201 TB6612 _right;
jksoft 0:9fcc79b3f00e 202 TB6612 _left;
jksoft 0:9fcc79b3f00e 203 MPU6050 _mpu;
jksoft 0:9fcc79b3f00e 204 I2C _i2c;
jksoft 0:9fcc79b3f00e 205 Adafruit_8x8matrix _matrix1;
jksoft 0:9fcc79b3f00e 206 Adafruit_8x8matrix _matrix2;
jksoft 0:9fcc79b3f00e 207 BusIn _sw;
jksoft 0:9fcc79b3f00e 208 DigitalOut _outlow;
jksoft 0:9fcc79b3f00e 209 BusOut _statusled;
jksoft 0:9fcc79b3f00e 210 AnalogIn _f_sensor1;
jksoft 0:9fcc79b3f00e 211 AnalogIn _f_sensor2;
jksoft 0:9fcc79b3f00e 212 AnalogIn _f_sensor3;
jksoft 0:9fcc79b3f00e 213 AnalogIn _f_sensor4;
jksoft 0:9fcc79b3f00e 214 int _sensor_gain;
jksoft 0:9fcc79b3f00e 215 int _sensor_def[4];
jksoft 0:9fcc79b3f00e 216 };
jksoft 0:9fcc79b3f00e 217
jksoft 0:9fcc79b3f00e 218 #endif