Matthew Else / SeeedStudioShieldBot

Library for the Seeed Studio Shield Bot

Dependents:   ShieldBotExample

SeeedStudioShieldBot.h@1:5c40f2a5e1ac, 2013-07-15 (annotated)

Committer:
melse
Date:
Mon Jul 15 13:38:07 2013 +0000
Revision:
1:5c40f2a5e1ac
Parent:
0:227158f56a11
Child:
2:118efce95f3c
Made the library more compatible with the m3pi lib

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 0:227158f56a11 9 void left_motor(float speed);
melse 0:227158f56a11 10 void right_motor(float speed);
melse 0:227158f56a11 11
melse 0:227158f56a11 12 // Like the two above, but both at the same speed.
melse 0:227158f56a11 13 // Negative of either will do the same job as the other (hopefully...)
melse 0:227158f56a11 14 void forward(float speed);
melse 0:227158f56a11 15 void backward(float speed);
melse 0:227158f56a11 16
melse 0:227158f56a11 17 // This will rotate both of the motors in opposite directions, at the same speed
melse 0:227158f56a11 18 void left(float speed);
melse 0:227158f56a11 19 void right(float speed);
melse 0:227158f56a11 20
melse 0:227158f56a11 21 void disable_motor_a();
melse 0:227158f56a11 22 void disable_motor_b();
melse 0:227158f56a11 23
melse 0:227158f56a11 24 void enable_motor_a();
melse 0:227158f56a11 25 void enable_motor_b();
melse 0:227158f56a11 26
melse 0:227158f56a11 27 void stopAll();
melse 0:227158f56a11 28
melse 0:227158f56a11 29 // Need to do something to do with detected line...
melse 0:227158f56a11 30
melse 1:5c40f2a5e1ac 31 float line_position();
melse 0:227158f56a11 32
melse 0:227158f56a11 33 DigitalIn rightSensor;
melse 0:227158f56a11 34 DigitalIn inRightSensor;
melse 0:227158f56a11 35 DigitalIn centreSensor;
melse 0:227158f56a11 36 DigitalIn inLeftSensor;
melse 0:227158f56a11 37 DigitalIn leftSensor;
melse 0:227158f56a11 38
melse 0:227158f56a11 39 private:
melse 0:227158f56a11 40 PwmOut motor1A;
melse 0:227158f56a11 41 DigitalOut motor1B;
melse 0:227158f56a11 42 DigitalOut motor1En;
melse 0:227158f56a11 43
melse 0:227158f56a11 44 // motor2A or motor2B need to be PWM, but the freedom board doesn't support it at the moment...
melse 0:227158f56a11 45 PwmOut motor2A;
melse 0:227158f56a11 46 DigitalOut motor2B;
melse 0:227158f56a11 47 DigitalOut motor2En;
melse 0:227158f56a11 48 };