It is a library for controlling Wallbot mini
Diff: wallbotmini.h
- Revision:
- 0:a11da93ea3f6
diff -r 000000000000 -r a11da93ea3f6 wallbotmini.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/wallbotmini.h Sat Nov 02 01:04:00 2013 +0000 @@ -0,0 +1,153 @@ +/* mbed wallbot mini Library + * + * wallbotmini.h + * + * Copyright (c) 2010-2013 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 LIABLE 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_H +#define WALLBOT_H + +#include "mbed.h" +#include "TB6612.h" + +#define SENSOR_VAL_WIDTH 2000 + +/** wallbot mini control class + * + * Example: + * @code + * // Drive the wwallbot forward, turn left, back, turn right, at half speed for half a second + +#include "mbed.h" +#include "wallbotmini.h" + +wallbotmini 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 wallbotmini { + + // Public functions +public: + + /** Create the wallbot object connected to the default pins + */ + wallbotmini(); + + /** Sensor calibrate + * + */ + void sensor_calibrate (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 left_motor (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. + */ + void right_motor (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 left (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 right (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); + + /** Set status led . + * @param led (bit0:LEFT bit1:UP bit2:RIGHT bit3 DOWN) + */ + void set_led(int bit); + + private : + + TB6612 _right; + TB6612 _left; + DigitalIn _sw; + BusOut _statusled; + AnalogIn _sensor1; + AnalogIn _sensor2; + AnalogIn _sensor3; + + int _sensor_def[3]; +}; + +#endif \ No newline at end of file