John Bailey / Mbed 2 deprecated MUTTv1

First (and very, very simple) controller program for the MUTT. See http://mbed.org/users/johnb/notebook/mutt-mbed-enabled-robot-vehicle/

Dependencies:   mbed ArduinoMotorShield

main.cpp@1:fac3a5bf41dd, 2014-02-12 (annotated)

Committer:
johnb
Date:
Wed Feb 12 23:04:33 2014 +0000
Revision:
1:fac3a5bf41dd
Parent:
0:a3da4faf20a8 
Update to use ArduinoMotorShield library

Who changed what in which revision?

UserRevisionLine numberNew contents of line
johnb 0:a3da4faf20a8 1 /**
johnb 0:a3da4faf20a8 2 @file
johnb 0:a3da4faf20a8 3 @brief MUTT controller, version 1.
johnb 0:a3da4faf20a8 4 MUTT will keep going until an obstacle is detected at which
johnb 0:a3da4faf20a8 5 point it'll stop and politely wait (indefinately) for the
johnb 0:a3da4faf20a8 6 obstacle to move.
johnb 0:a3da4faf20a8 7
johnb 0:a3da4faf20a8 8 See http://mbed.org/users/johnb/notebook/mutt-mbed-enabled-robot-vehicle/
johnb 0:a3da4faf20a8 9
johnb 0:a3da4faf20a8 10 @author John Bailey
johnb 0:a3da4faf20a8 11
johnb 0:a3da4faf20a8 12 @copyright Copyright 2014 John Bailey
johnb 0:a3da4faf20a8 13
johnb 0:a3da4faf20a8 14 @section LICENSE
johnb 0:a3da4faf20a8 15
johnb 0:a3da4faf20a8 16 Licensed under the Apache License, Version 2.0 (the "License");
johnb 0:a3da4faf20a8 17 you may not use this file except in compliance with the License.
johnb 0:a3da4faf20a8 18 You may obtain a copy of the License at
johnb 0:a3da4faf20a8 19
johnb 0:a3da4faf20a8 20 http://www.apache.org/licenses/LICENSE-2.0
johnb 0:a3da4faf20a8 21
johnb 0:a3da4faf20a8 22 Unless required by applicable law or agreed to in writing, software
johnb 0:a3da4faf20a8 23 distributed under the License is distributed on an "AS IS" BASIS,
johnb 0:a3da4faf20a8 24 WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
johnb 0:a3da4faf20a8 25 See the License for the specific language governing permissions and
johnb 0:a3da4faf20a8 26 limitations under the License.
johnb 0:a3da4faf20a8 27
johnb 0:a3da4faf20a8 28 */
johnb 0:a3da4faf20a8 29
johnb 0:a3da4faf20a8 30 #include "mbed.h"
johnb 1:fac3a5bf41dd 31 #include "ArduinoMotorShield.hpp"
johnb 0:a3da4faf20a8 32
johnb 1:fac3a5bf41dd 33 ArduinoMotorShield shield;
johnb 0:a3da4faf20a8 34 AnalogIn irFeedback(PTC2 /* A4 */);
johnb 0:a3da4faf20a8 35
johnb 0:a3da4faf20a8 36 /** Determine if the IR sensor is detecting an obstacle */
johnb 0:a3da4faf20a8 37 bool irSensesObstacle( void )
johnb 0:a3da4faf20a8 38 {
johnb 0:a3da4faf20a8 39 /* IR sensor is TTL, so threshold is arbitary */
johnb 0:a3da4faf20a8 40 static const float ir_thresh = 0.5;
johnb 0:a3da4faf20a8 41
johnb 0:a3da4faf20a8 42 /* If analogue feedback is less than the threshold then there's an obstacle */
johnb 0:a3da4faf20a8 43 return( irFeedback < ir_thresh );
johnb 0:a3da4faf20a8 44 }
johnb 1:fac3a5bf41dd 45
johnb 1:fac3a5bf41dd 46 /* Remove the comment to get some output on the serial line, however this
johnb 1:fac3a5bf41dd 47 may result in problems if the serial line's not connected (i.e. MUTT's
johnb 1:fac3a5bf41dd 48 not USB connected and is free roaming) */
johnb 1:fac3a5bf41dd 49 #define SERIAL_OUTPUT
johnb 1:fac3a5bf41dd 50
johnb 1:fac3a5bf41dd 51 #if defined SERIAL_OUTPUT
johnb 1:fac3a5bf41dd 52 #define OUTPUT_PERIOD 1000
johnb 1:fac3a5bf41dd 53 Serial pc(USBTX, USBRX);
johnb 1:fac3a5bf41dd 54 uint16_t ticker = 0;
johnb 1:fac3a5bf41dd 55 uint16_t next_output = 0;
johnb 1:fac3a5bf41dd 56
johnb 1:fac3a5bf41dd 57 void serial_status( void )
johnb 1:fac3a5bf41dd 58 {
johnb 1:fac3a5bf41dd 59 if( next_output == OUTPUT_PERIOD )
johnb 1:fac3a5bf41dd 60 {
johnb 1:fac3a5bf41dd 61 pc.printf( "MUTT: %04u Obstacle:%u Current A: %0.2f Current B: %0.2f\r\n",
johnb 1:fac3a5bf41dd 62 ticker++,irSensesObstacle(),
johnb 1:fac3a5bf41dd 63 shield.GetMotorCurrent(ArduinoMotorShield::MOTOR_A),
johnb 1:fac3a5bf41dd 64 shield.GetMotorCurrent(ArduinoMotorShield::MOTOR_B) );
johnb 1:fac3a5bf41dd 65 next_output = 0;
johnb 1:fac3a5bf41dd 66 }
johnb 1:fac3a5bf41dd 67 next_output++;
johnb 1:fac3a5bf41dd 68 }
johnb 1:fac3a5bf41dd 69 #endif
johnb 1:fac3a5bf41dd 70
johnb 0:a3da4faf20a8 71 int main( void )
johnb 0:a3da4faf20a8 72 {
johnb 0:a3da4faf20a8 73 /* Set directions on the motors. What you need here will depend on how
johnb 0:a3da4faf20a8 74 you've wired the motors to the motor shield. If you find that one or
johnb 0:a3da4faf20a8 75 both wheels are turning backwards then you can either change the wiring
johnb 0:a3da4faf20a8 76 or change these settings */
johnb 1:fac3a5bf41dd 77 shield.SetMotorPolarity( ArduinoMotorShield::MOTOR_A, ArduinoMotorShield::MOTOR_FORWARD );
johnb 1:fac3a5bf41dd 78 shield.SetMotorPolarity( ArduinoMotorShield::MOTOR_B, ArduinoMotorShield::MOTOR_BACKWARD );
johnb 0:a3da4faf20a8 79
johnb 0:a3da4faf20a8 80 /* Forever is a long time ... */
johnb 0:a3da4faf20a8 81 while( 1 )
johnb 0:a3da4faf20a8 82 {
johnb 0:a3da4faf20a8 83 /* Determine if there's an obstacle */
johnb 0:a3da4faf20a8 84 bool obstacle = irSensesObstacle();
johnb 1:fac3a5bf41dd 85
johnb 0:a3da4faf20a8 86 #if defined SERIAL_OUTPUT
johnb 1:fac3a5bf41dd 87 serial_status();
johnb 0:a3da4faf20a8 88 #endif
johnb 0:a3da4faf20a8 89
johnb 1:fac3a5bf41dd 90 /* Set the both motors to 1 (i.e. full power) in the case that there's
johnb 1:fac3a5bf41dd 91 no obstacle, set it to 0 (i.e. no power) in the case that an obstacle is
johnb 0:a3da4faf20a8 92 detected */
johnb 1:fac3a5bf41dd 93 shield.SetMotorPower( ArduinoMotorShield::MOTOR_A, !obstacle );
johnb 1:fac3a5bf41dd 94 shield.SetMotorPower( ArduinoMotorShield::MOTOR_B, !obstacle );
johnb 0:a3da4faf20a8 95
johnb 0:a3da4faf20a8 96 /* Wait 1 millisecond before goind round the loop again */
johnb 0:a3da4faf20a8 97 wait_ms( 1 );
johnb 0:a3da4faf20a8 98 }
johnb 0:a3da4faf20a8 99 }