Mitchell Hatfield / Mbed 2 deprecated Component_Test_Interface

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Dependencies:   BridgeDriver FrontPanelButtons MCP23017 SDFileSystem TextLCD mbed

Motor.cpp@0:22618cf06f45, 2014-09-16 (annotated)

Committer:
mehatfie
Date:
Tue Sep 16 15:28:59 2014 +0000
Revision:
0:22618cf06f45
Child:
2:3e7baa3e3fec
- Initial Commit; - Code is a mess (in mid transition of general code architecture); - Functionality work to drive motors in both direction and turn off; - Delay functionality working; - Able to read a program from a txt file and perform functionality

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mehatfie 0:22618cf06f45 1 //#include "Motor.hpp"
mehatfie 0:22618cf06f45 2 //#include "mbed.h"
mehatfie 0:22618cf06f45 3 //#include "LocalPinNames.h"
mehatfie 0:22618cf06f45 4 //#include "BridgeDriver.h"
mehatfie 0:22618cf06f45 5 //
mehatfie 0:22618cf06f45 6 ////Constructor
mehatfie 0:22618cf06f45 7 //Motor::Motor(){
mehatfie 0:22618cf06f45 8 // /*
mehatfie 0:22618cf06f45 9 // //Order of Line: Command, Local_Name, VOLTAGE_DRIVER, Channel(1,2,3,4,5,6,7,8)
mehatfie 0:22618cf06f45 10 // if (lineData.numWords != 4){
mehatfie 0:22618cf06f45 11 // //Error Check, incorrect number of parameter, error out
mehatfie 0:22618cf06f45 12 // //return 0;
mehatfie 0:22618cf06f45 13 // }*/
mehatfie 0:22618cf06f45 14 //
mehatfie 0:22618cf06f45 15 // char channel = *lineData.word[3]; //Parameter is a single character, so dereference the point to the word
mehatfie 0:22618cf06f45 16 //
mehatfie 0:22618cf06f45 17 // switch (channel){
mehatfie 0:22618cf06f45 18 // case 'A':
mehatfie 0:22618cf06f45 19 // case 'a':
mehatfie 0:22618cf06f45 20 // this->motor = BridgeDriver::MOTOR_A;
mehatfie 0:22618cf06f45 21 // break;
mehatfie 0:22618cf06f45 22 // case 'B':
mehatfie 0:22618cf06f45 23 // case 'b':
mehatfie 0:22618cf06f45 24 // this->motor = BridgeDriver::MOTOR_B;
mehatfie 0:22618cf06f45 25 // break;
mehatfie 0:22618cf06f45 26 // case 'C':
mehatfie 0:22618cf06f45 27 // case 'c':
mehatfie 0:22618cf06f45 28 // this->motor = BridgeDriver::MOTOR_C;
mehatfie 0:22618cf06f45 29 // break;
mehatfie 0:22618cf06f45 30 // case 'D':
mehatfie 0:22618cf06f45 31 // case 'd':
mehatfie 0:22618cf06f45 32 // this->motor = BridgeDriver::MOTOR_D;
mehatfie 0:22618cf06f45 33 // break;
mehatfie 0:22618cf06f45 34 // }
mehatfie 0:22618cf06f45 35 //}
mehatfie 0:22618cf06f45 36 //
mehatfie 0:22618cf06f45 37 //
mehatfie 0:22618cf06f45 38 //enum BridgeDriver::Motors Motor::getMotor(){
mehatfie 0:22618cf06f45 39 // return this->motor;
mehatfie 0:22618cf06f45 40 //}
mehatfie 0:22618cf06f45 41 //
mehatfie 0:22618cf06f45 42 ////A line consists of [ __(Local_Name)__ __(function)__ __(parameter1)__ __(parameter2)__ __(parameter3)__ ... and so on]
mehatfie 0:22618cf06f45 43 //int Motor::interpret(){
mehatfie 0:22618cf06f45 44 //
mehatfie 0:22618cf06f45 45 //
mehatfie 0:22618cf06f45 46 // //Order of Line: Local_Name, Function_Name, Param1, Param2, Param3,.......
mehatfie 0:22618cf06f45 47 // char *localname = lineData.word[0]; //just for the sake of following the variable easily and understanding
mehatfie 0:22618cf06f45 48 // char *func = lineData.word[1];
mehatfie 0:22618cf06f45 49 //
mehatfie 0:22618cf06f45 50 // /******************************************************************************/
mehatfie 0:22618cf06f45 51 // /*** <Func: enableBrake> ***/
mehatfie 0:22618cf06f45 52 // /******************************************************************************/
mehatfie 0:22618cf06f45 53 // if (strncmp(func,"enableBrake", 11) == 0){
mehatfie 0:22618cf06f45 54 //
mehatfie 0:22618cf06f45 55 // if (lineData.numWords != 4){
mehatfie 0:22618cf06f45 56 // //Error Check, incorrect number of parameter, error out
mehatfie 0:22618cf06f45 57 // return 0;
mehatfie 0:22618cf06f45 58 // }
mehatfie 0:22618cf06f45 59 //
mehatfie 0:22618cf06f45 60 // //Initialize and Convert Parameters
mehatfie 0:22618cf06f45 61 // char *enable = lineData.word[2];
mehatfie 0:22618cf06f45 62 // int enableValue = atoi(enable);
mehatfie 0:22618cf06f45 63 //
mehatfie 0:22618cf06f45 64 // bridges.enableBraking(getMotor(), enableValue);
mehatfie 0:22618cf06f45 65 // }
mehatfie 0:22618cf06f45 66 //
mehatfie 0:22618cf06f45 67 // /******************************************************************************/
mehatfie 0:22618cf06f45 68 // /*** <Func: forceBrake> ***/
mehatfie 0:22618cf06f45 69 // /******************************************************************************/
mehatfie 0:22618cf06f45 70 // else if (strncmp(func,"forceBrake", 10) == 0){
mehatfie 0:22618cf06f45 71 //
mehatfie 0:22618cf06f45 72 // if (lineData.numWords != 3){
mehatfie 0:22618cf06f45 73 // //Error Check, incorrect number of parameter, error out
mehatfie 0:22618cf06f45 74 // return 0;
mehatfie 0:22618cf06f45 75 // }
mehatfie 0:22618cf06f45 76 //
mehatfie 0:22618cf06f45 77 // bridges.forceBrake(getMotor());
mehatfie 0:22618cf06f45 78 // }
mehatfie 0:22618cf06f45 79 //
mehatfie 0:22618cf06f45 80 //
mehatfie 0:22618cf06f45 81 // /******************************************************************************/
mehatfie 0:22618cf06f45 82 // /*** <Func: drive> ***/
mehatfie 0:22618cf06f45 83 // /******************************************************************************/
mehatfie 0:22618cf06f45 84 //
mehatfie 0:22618cf06f45 85 //
mehatfie 0:22618cf06f45 86 // /******************************************************************************/
mehatfie 0:22618cf06f45 87 // /**** <Func: off> ****/
mehatfie 0:22618cf06f45 88 // /******************************************************************************/
mehatfie 0:22618cf06f45 89 // else if (strncmp(func,"off", 3) == 0){
mehatfie 0:22618cf06f45 90 //
mehatfie 0:22618cf06f45 91 // if (lineData.numWords != 2){
mehatfie 0:22618cf06f45 92 // //Error Check, incorrect number of parameter, error out
mehatfie 0:22618cf06f45 93 // return 0;
mehatfie 0:22618cf06f45 94 // }
mehatfie 0:22618cf06f45 95 //
mehatfie 0:22618cf06f45 96 // bridges.drive(getMotor(), 0, 0); //Turn off the Motor
mehatfie 0:22618cf06f45 97 // }
mehatfie 0:22618cf06f45 98 //
mehatfie 0:22618cf06f45 99 // else {
mehatfie 0:22618cf06f45 100 // return 0;
mehatfie 0:22618cf06f45 101 //
mehatfie 0:22618cf06f45 102 // }
mehatfie 0:22618cf06f45 103 //
mehatfie 0:22618cf06f45 104 //
mehatfie 0:22618cf06f45 105 // return 1;
mehatfie 0:22618cf06f45 106 //}
mehatfie 0:22618cf06f45 107 //
mehatfie 0:22618cf06f45 108 //
mehatfie 0:22618cf06f45 109 //
mehatfie 0:22618cf06f45 110 //
mehatfie 0:22618cf06f45 111 //
mehatfie 0:22618cf06f45 112 //
mehatfie 0:22618cf06f45 113 //
mehatfie 0:22618cf06f45 114 ///*
mehatfie 0:22618cf06f45 115 //int Motor::enableBrake(){
mehatfie 0:22618cf06f45 116 //
mehatfie 0:22618cf06f45 117 // if (lineData.numWords != 4){
mehatfie 0:22618cf06f45 118 // //Error Check, incorrect number of parameter, error out
mehatfie 0:22618cf06f45 119 // return 0;
mehatfie 0:22618cf06f45 120 // }
mehatfie 0:22618cf06f45 121 //
mehatfie 0:22618cf06f45 122 // //Initialize and Convert Parameters
mehatfie 0:22618cf06f45 123 // char *enable = lineData.word[2];
mehatfie 0:22618cf06f45 124 // int enableValue = atoi(enable);
mehatfie 0:22618cf06f45 125 //
mehatfie 0:22618cf06f45 126 // //If the atoi returned anything besides 0, it worked properly
mehatfie 0:22618cf06f45 127 // if (enableValue)
mehatfie 0:22618cf06f45 128 // bridges.enableBraking(getMotor(), enableValue);
mehatfie 0:22618cf06f45 129 // else{
mehatfie 0:22618cf06f45 130 // //Error Check, incorrect number of parameter, error out
mehatfie 0:22618cf06f45 131 // return 0;
mehatfie 0:22618cf06f45 132 // }
mehatfie 0:22618cf06f45 133 //
mehatfie 0:22618cf06f45 134 // return 1;
mehatfie 0:22618cf06f45 135 //}
mehatfie 0:22618cf06f45 136 //
mehatfie 0:22618cf06f45 137 //int Motor::forceBrake(){
mehatfie 0:22618cf06f45 138 //
mehatfie 0:22618cf06f45 139 // if (lineData.numWords != 3){
mehatfie 0:22618cf06f45 140 // //Error Check, incorrect number of parameter, error out
mehatfie 0:22618cf06f45 141 // return 0;
mehatfie 0:22618cf06f45 142 // }
mehatfie 0:22618cf06f45 143 //
mehatfie 0:22618cf06f45 144 // bridges.forceBrake(getMotor());
mehatfie 0:22618cf06f45 145 //}
mehatfie 0:22618cf06f45 146 //
mehatfie 0:22618cf06f45 147 //int Motor::drive(){
mehatfie 0:22618cf06f45 148 //
mehatfie 0:22618cf06f45 149 // if (lineData.numWords != 4){
mehatfie 0:22618cf06f45 150 // //Error Check, incorrect number of parameter, error out
mehatfie 0:22618cf06f45 151 // return 0;
mehatfie 0:22618cf06f45 152 // }
mehatfie 0:22618cf06f45 153 //
mehatfie 0:22618cf06f45 154 // //Initialize Parameters
mehatfie 0:22618cf06f45 155 // char *speed = lineData.word[2];
mehatfie 0:22618cf06f45 156 // char *dir = lineData.word[3];
mehatfie 0:22618cf06f45 157 //
mehatfie 0:22618cf06f45 158 // //Initialize Convertion Variables if needed
mehatfie 0:22618cf06f45 159 // float speedValue;
mehatfie 0:22618cf06f45 160 // int dirValue = 0;
mehatfie 0:22618cf06f45 161 //
mehatfie 0:22618cf06f45 162 // //Convert string to usable values
mehatfie 0:22618cf06f45 163 // //NOTE both atof and atoi functions return 0 if no valid conversion could be performed
mehatfie 0:22618cf06f45 164 // speedValue = atof(speed) / 100;
mehatfie 0:22618cf06f45 165 //
mehatfie 0:22618cf06f45 166 // if (speedValue <= 0)
mehatfie 0:22618cf06f45 167 // return 0; //Error Out because a value gives no functionality or is wrong
mehatfie 0:22618cf06f45 168 //
mehatfie 0:22618cf06f45 169 // if (strncmp(dir,"CC", 2) == 0 || strncmp(dir,"cc", 2) == 0)
mehatfie 0:22618cf06f45 170 // dirValue = -1; //Turn Clockwise
mehatfie 0:22618cf06f45 171 // else if (strncmp(dir,"C", 1) == 0 || strncmp(dir,"c", 1) == 0)
mehatfie 0:22618cf06f45 172 // dirValue = 1; //Turn CounterClockwise
mehatfie 0:22618cf06f45 173 // else
mehatfie 0:22618cf06f45 174 // return 0; //Error Out since the parameter is incorrect
mehatfie 0:22618cf06f45 175 //
mehatfie 0:22618cf06f45 176 // bridges.drive(getMotor(), dirValue, speedValue); //Turn on the Motor
mehatfie 0:22618cf06f45 177 //}
mehatfie 0:22618cf06f45 178 //*/
mehatfie 0:22618cf06f45 179 //
mehatfie 0:22618cf06f45 180 //
mehatfie 0:22618cf06f45 181 //