Matthew Else / SeeedStudioShieldBot

Library for the Seeed Studio Shield Bot

Dependents:   ShieldBotExample

SeeedStudioShieldBot.h@2:118efce95f3c, 2013-07-15 (annotated)

Committer:
melse
Date:
Mon Jul 15 13:47:09 2013 +0000
Revision:
2:118efce95f3c
Parent:
1:5c40f2a5e1ac
Child:
3:ccd47cdacb7b
added more docs

Who changed what in which revision?

UserRevisionLine numberNew contents of line
melse 0:227158f56a11 1 #include "mbed.h"
melse 0:227158f56a11 2
melse 0:227158f56a11 3 class SeeedStudioShieldBot {
melse 0:227158f56a11 4 public:
melse 0:227158f56a11 5
melse 0:227158f56a11 6 // Create a shield bot object, using default settings for now...
melse 0:227158f56a11 7 SeeedStudioShieldBot();
melse 0:227158f56a11 8
melse 2:118efce95f3c 9 /** Switch on the left motor at the given speed.
melse 2:118efce95f3c 10 */
melse 0:227158f56a11 11 void left_motor(float speed);
melse 0:227158f56a11 12 void right_motor(float speed);
melse 0:227158f56a11 13
melse 0:227158f56a11 14 // Like the two above, but both at the same speed.
melse 0:227158f56a11 15 // Negative of either will do the same job as the other (hopefully...)
melse 0:227158f56a11 16 void forward(float speed);
melse 0:227158f56a11 17 void backward(float speed);
melse 0:227158f56a11 18
melse 0:227158f56a11 19 // This will rotate both of the motors in opposite directions, at the same speed
melse 0:227158f56a11 20 void left(float speed);
melse 0:227158f56a11 21 void right(float speed);
melse 0:227158f56a11 22
melse 2:118efce95f3c 23 void disable_left_motor();
melse 2:118efce95f3c 24 void disable_right_motor();
melse 0:227158f56a11 25
melse 2:118efce95f3c 26 void enable_left_motor();
melse 2:118efce95f3c 27 void enable_right_motor();
melse 0:227158f56a11 28
melse 0:227158f56a11 29 void stopAll();
melse 2:118efce95f3c 30 void stop(int motor);
melse 0:227158f56a11 31
melse 0:227158f56a11 32 // Need to do something to do with detected line...
melse 0:227158f56a11 33
melse 1:5c40f2a5e1ac 34 float line_position();
melse 0:227158f56a11 35
melse 0:227158f56a11 36 DigitalIn rightSensor;
melse 0:227158f56a11 37 DigitalIn inRightSensor;
melse 0:227158f56a11 38 DigitalIn centreSensor;
melse 0:227158f56a11 39 DigitalIn inLeftSensor;
melse 0:227158f56a11 40 DigitalIn leftSensor;
melse 0:227158f56a11 41
melse 0:227158f56a11 42 private:
melse 0:227158f56a11 43 PwmOut motor1A;
melse 0:227158f56a11 44 DigitalOut motor1B;
melse 0:227158f56a11 45 DigitalOut motor1En;
melse 0:227158f56a11 46
melse 0:227158f56a11 47 // motor2A or motor2B need to be PWM, but the freedom board doesn't support it at the moment...
melse 0:227158f56a11 48 PwmOut motor2A;
melse 0:227158f56a11 49 DigitalOut motor2B;
melse 0:227158f56a11 50 DigitalOut motor2En;
melse 0:227158f56a11 51 };