It is a library for controlling Wallbot mini
wallbotmini.h@0:a11da93ea3f6, 2013-11-02 (annotated)
- Committer:
- jksoft
- Date:
- Sat Nov 02 01:04:00 2013 +0000
- Revision:
- 0:a11da93ea3f6
Rev1
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jksoft | 0:a11da93ea3f6 | 1 | /* mbed wallbot mini Library |
jksoft | 0:a11da93ea3f6 | 2 | * |
jksoft | 0:a11da93ea3f6 | 3 | * wallbotmini.h |
jksoft | 0:a11da93ea3f6 | 4 | * |
jksoft | 0:a11da93ea3f6 | 5 | * Copyright (c) 2010-2013 jksoft |
jksoft | 0:a11da93ea3f6 | 6 | * |
jksoft | 0:a11da93ea3f6 | 7 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
jksoft | 0:a11da93ea3f6 | 8 | * of this software and associated documentation files (the "Software"), to deal |
jksoft | 0:a11da93ea3f6 | 9 | * in the Software without restriction, including without limitation the rights |
jksoft | 0:a11da93ea3f6 | 10 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
jksoft | 0:a11da93ea3f6 | 11 | * copies of the Software, and to permit persons to whom the Software is |
jksoft | 0:a11da93ea3f6 | 12 | * furnished to do so, subject to the following conditions: |
jksoft | 0:a11da93ea3f6 | 13 | * |
jksoft | 0:a11da93ea3f6 | 14 | * The above copyright notice and this permission notice shall be included in |
jksoft | 0:a11da93ea3f6 | 15 | * all copies or substantial portions of the Software. |
jksoft | 0:a11da93ea3f6 | 16 | * |
jksoft | 0:a11da93ea3f6 | 17 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
jksoft | 0:a11da93ea3f6 | 18 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
jksoft | 0:a11da93ea3f6 | 19 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
jksoft | 0:a11da93ea3f6 | 20 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
jksoft | 0:a11da93ea3f6 | 21 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
jksoft | 0:a11da93ea3f6 | 22 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
jksoft | 0:a11da93ea3f6 | 23 | * THE SOFTWARE. |
jksoft | 0:a11da93ea3f6 | 24 | */ |
jksoft | 0:a11da93ea3f6 | 25 | |
jksoft | 0:a11da93ea3f6 | 26 | #ifndef WALLBOT_H |
jksoft | 0:a11da93ea3f6 | 27 | #define WALLBOT_H |
jksoft | 0:a11da93ea3f6 | 28 | |
jksoft | 0:a11da93ea3f6 | 29 | #include "mbed.h" |
jksoft | 0:a11da93ea3f6 | 30 | #include "TB6612.h" |
jksoft | 0:a11da93ea3f6 | 31 | |
jksoft | 0:a11da93ea3f6 | 32 | #define SENSOR_VAL_WIDTH 2000 |
jksoft | 0:a11da93ea3f6 | 33 | |
jksoft | 0:a11da93ea3f6 | 34 | /** wallbot mini control class |
jksoft | 0:a11da93ea3f6 | 35 | * |
jksoft | 0:a11da93ea3f6 | 36 | * Example: |
jksoft | 0:a11da93ea3f6 | 37 | * @code |
jksoft | 0:a11da93ea3f6 | 38 | * // Drive the wwallbot forward, turn left, back, turn right, at half speed for half a second |
jksoft | 0:a11da93ea3f6 | 39 | |
jksoft | 0:a11da93ea3f6 | 40 | #include "mbed.h" |
jksoft | 0:a11da93ea3f6 | 41 | #include "wallbotmini.h" |
jksoft | 0:a11da93ea3f6 | 42 | |
jksoft | 0:a11da93ea3f6 | 43 | wallbotmini wb; |
jksoft | 0:a11da93ea3f6 | 44 | |
jksoft | 0:a11da93ea3f6 | 45 | int main() { |
jksoft | 0:a11da93ea3f6 | 46 | |
jksoft | 0:a11da93ea3f6 | 47 | wb.sensor_calibrate(); |
jksoft | 0:a11da93ea3f6 | 48 | |
jksoft | 0:a11da93ea3f6 | 49 | while(!wb.GetSw()) |
jksoft | 0:a11da93ea3f6 | 50 | { |
jksoft | 0:a11da93ea3f6 | 51 | wb.set_led(wb.GetLinePosition()); |
jksoft | 0:a11da93ea3f6 | 52 | } |
jksoft | 0:a11da93ea3f6 | 53 | |
jksoft | 0:a11da93ea3f6 | 54 | wb.forward(1.0); |
jksoft | 0:a11da93ea3f6 | 55 | wait (1.0); |
jksoft | 0:a11da93ea3f6 | 56 | wb.left(1.0); |
jksoft | 0:a11da93ea3f6 | 57 | wait (1.0); |
jksoft | 0:a11da93ea3f6 | 58 | wb.backward(1.0); |
jksoft | 0:a11da93ea3f6 | 59 | wait (1.0); |
jksoft | 0:a11da93ea3f6 | 60 | wb.right(1.0); |
jksoft | 0:a11da93ea3f6 | 61 | wait (1.0); |
jksoft | 0:a11da93ea3f6 | 62 | |
jksoft | 0:a11da93ea3f6 | 63 | wb.stop(); |
jksoft | 0:a11da93ea3f6 | 64 | |
jksoft | 0:a11da93ea3f6 | 65 | while(1); |
jksoft | 0:a11da93ea3f6 | 66 | |
jksoft | 0:a11da93ea3f6 | 67 | } |
jksoft | 0:a11da93ea3f6 | 68 | |
jksoft | 0:a11da93ea3f6 | 69 | * @endcode |
jksoft | 0:a11da93ea3f6 | 70 | */ |
jksoft | 0:a11da93ea3f6 | 71 | class wallbotmini { |
jksoft | 0:a11da93ea3f6 | 72 | |
jksoft | 0:a11da93ea3f6 | 73 | // Public functions |
jksoft | 0:a11da93ea3f6 | 74 | public: |
jksoft | 0:a11da93ea3f6 | 75 | |
jksoft | 0:a11da93ea3f6 | 76 | /** Create the wallbot object connected to the default pins |
jksoft | 0:a11da93ea3f6 | 77 | */ |
jksoft | 0:a11da93ea3f6 | 78 | wallbotmini(); |
jksoft | 0:a11da93ea3f6 | 79 | |
jksoft | 0:a11da93ea3f6 | 80 | /** Sensor calibrate |
jksoft | 0:a11da93ea3f6 | 81 | * |
jksoft | 0:a11da93ea3f6 | 82 | */ |
jksoft | 0:a11da93ea3f6 | 83 | void sensor_calibrate (void); |
jksoft | 0:a11da93ea3f6 | 84 | |
jksoft | 0:a11da93ea3f6 | 85 | /** Directly control the speed and direction of the left motor |
jksoft | 0:a11da93ea3f6 | 86 | * |
jksoft | 0:a11da93ea3f6 | 87 | * @param speed A normalised number -1.0 - 1.0 represents the full range. |
jksoft | 0:a11da93ea3f6 | 88 | */ |
jksoft | 0:a11da93ea3f6 | 89 | void left_motor (float speed); |
jksoft | 0:a11da93ea3f6 | 90 | |
jksoft | 0:a11da93ea3f6 | 91 | /** Directly control the speed and direction of the right motor |
jksoft | 0:a11da93ea3f6 | 92 | * |
jksoft | 0:a11da93ea3f6 | 93 | * @param speed A normalised number -1.0 - 1.0 represents the full range. |
jksoft | 0:a11da93ea3f6 | 94 | */ |
jksoft | 0:a11da93ea3f6 | 95 | void right_motor (float speed); |
jksoft | 0:a11da93ea3f6 | 96 | |
jksoft | 0:a11da93ea3f6 | 97 | /** Drive both motors forward as the same speed |
jksoft | 0:a11da93ea3f6 | 98 | * |
jksoft | 0:a11da93ea3f6 | 99 | * @param speed A normalised number 0 - 1.0 represents the full range. |
jksoft | 0:a11da93ea3f6 | 100 | */ |
jksoft | 0:a11da93ea3f6 | 101 | void forward (float speed); |
jksoft | 0:a11da93ea3f6 | 102 | |
jksoft | 0:a11da93ea3f6 | 103 | /** Drive both motors backward as the same speed |
jksoft | 0:a11da93ea3f6 | 104 | * |
jksoft | 0:a11da93ea3f6 | 105 | * @param speed A normalised number 0 - 1.0 represents the full range. |
jksoft | 0:a11da93ea3f6 | 106 | */ |
jksoft | 0:a11da93ea3f6 | 107 | void backward (float speed); |
jksoft | 0:a11da93ea3f6 | 108 | |
jksoft | 0:a11da93ea3f6 | 109 | /** Drive left motor backwards and right motor forwards at the same speed to turn on the spot |
jksoft | 0:a11da93ea3f6 | 110 | * |
jksoft | 0:a11da93ea3f6 | 111 | * @param speed A normalised number 0 - 1.0 represents the full range. |
jksoft | 0:a11da93ea3f6 | 112 | */ |
jksoft | 0:a11da93ea3f6 | 113 | void left (float speed); |
jksoft | 0:a11da93ea3f6 | 114 | |
jksoft | 0:a11da93ea3f6 | 115 | /** Drive left motor forward and right motor backwards at the same speed to turn on the spot |
jksoft | 0:a11da93ea3f6 | 116 | * @param speed A normalised number 0 - 1.0 represents the full range. |
jksoft | 0:a11da93ea3f6 | 117 | */ |
jksoft | 0:a11da93ea3f6 | 118 | void right (float speed); |
jksoft | 0:a11da93ea3f6 | 119 | |
jksoft | 0:a11da93ea3f6 | 120 | /** Stop both motors |
jksoft | 0:a11da93ea3f6 | 121 | * |
jksoft | 0:a11da93ea3f6 | 122 | */ |
jksoft | 0:a11da93ea3f6 | 123 | void stop (void); |
jksoft | 0:a11da93ea3f6 | 124 | |
jksoft | 0:a11da93ea3f6 | 125 | /** Get floorline position.(int value return.) |
jksoft | 0:a11da93ea3f6 | 126 | * |
jksoft | 0:a11da93ea3f6 | 127 | */ |
jksoft | 0:a11da93ea3f6 | 128 | int GetLinePosition(void); |
jksoft | 0:a11da93ea3f6 | 129 | |
jksoft | 0:a11da93ea3f6 | 130 | /** Get switch .(switch OFF:0 or ON:1 return.) |
jksoft | 0:a11da93ea3f6 | 131 | * |
jksoft | 0:a11da93ea3f6 | 132 | */ |
jksoft | 0:a11da93ea3f6 | 133 | int GetSw(void); |
jksoft | 0:a11da93ea3f6 | 134 | |
jksoft | 0:a11da93ea3f6 | 135 | /** Set status led . |
jksoft | 0:a11da93ea3f6 | 136 | * @param led (bit0:LEFT bit1:UP bit2:RIGHT bit3 DOWN) |
jksoft | 0:a11da93ea3f6 | 137 | */ |
jksoft | 0:a11da93ea3f6 | 138 | void set_led(int bit); |
jksoft | 0:a11da93ea3f6 | 139 | |
jksoft | 0:a11da93ea3f6 | 140 | private : |
jksoft | 0:a11da93ea3f6 | 141 | |
jksoft | 0:a11da93ea3f6 | 142 | TB6612 _right; |
jksoft | 0:a11da93ea3f6 | 143 | TB6612 _left; |
jksoft | 0:a11da93ea3f6 | 144 | DigitalIn _sw; |
jksoft | 0:a11da93ea3f6 | 145 | BusOut _statusled; |
jksoft | 0:a11da93ea3f6 | 146 | AnalogIn _sensor1; |
jksoft | 0:a11da93ea3f6 | 147 | AnalogIn _sensor2; |
jksoft | 0:a11da93ea3f6 | 148 | AnalogIn _sensor3; |
jksoft | 0:a11da93ea3f6 | 149 | |
jksoft | 0:a11da93ea3f6 | 150 | int _sensor_def[3]; |
jksoft | 0:a11da93ea3f6 | 151 | }; |
jksoft | 0:a11da93ea3f6 | 152 | |
jksoft | 0:a11da93ea3f6 | 153 | #endif |