Revision 0:227158f56a11, committed 2013-07-15

Comitter:

melse

Date:

Mon Jul 15 13:16:09 2013 +0000

Child:

1:5c40f2a5e1ac

Commit message:

Initial Commit

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SeeedStudioShieldBot.cpp	Mon Jul 15 13:16:09 2013 +0000
@@ -0,0 +1,125 @@
+#include "SeeedStudioShieldBot.h"
+#include "mbed.h"
+
+
+SeeedStudioShieldBot::SeeedStudioShieldBot() :  motor1A(PTA5),
+    motor1B(PTC9),
+    motor2A(PTA12),
+    motor2B(PTD0),
+    motor1En(PTC8),
+    motor2En(PTD5),
+    rightSensor(PTB0),
+    inRightSensor(PTB1),
+    centreSensor(PTB2),
+    inLeftSensor(PTB3),
+    leftSensor(PTA4) {
+    // Something should go here...
+}
+
+void SeeedStudioShieldBot::right_motor(float speed) { 
+    // The bit that's actually needed...
+    if (speed >= 0) {
+        motor1A = speed;
+        motor1B = 0;
+    }
+    else {
+        motor1A = 1 + speed;
+        motor1B = 1;
+    }
+}
+
+void SeeedStudioShieldBot::left_motor(float speed) {   
+    // Useful bit
+    if (speed >= 0) {
+        motor2A = speed;
+        motor2B = 0;
+    }
+    else {
+        motor2A = 1 + speed;
+        motor2B = 1;
+    }
+}
+
+// The following two functions turn the robot on the spot...
+
+void SeeedStudioShieldBot::left(float speed) {
+    left_motor(-speed);
+    right_motor(speed);
+}
+
+void SeeedStudioShieldBot::right(float speed) {
+    left_motor(speed);
+    right_motor(-speed);
+}
+
+// Again, until we get PWM on the pin w/o PWM, there's no way we can really have this any other way than 1...
+// This is the case for both forwards and backwards...
+
+// FIXED, using jumper between pins 8 and 3 on top of the robot board... unfortunately it wastes an io pin, but is easier than using software IO.
+// It also means that the 'lid' can't go on top.
+
+void SeeedStudioShieldBot::forward(float speed) {
+    if (speed == 0) {
+        left_motor(0);
+        right_motor(0);
+    }
+    else {
+        left_motor(speed);
+        right_motor(speed);
+    }
+}
+
+void SeeedStudioShieldBot::backward(float speed) {
+    if (speed == 0) {
+        left_motor(0);
+        right_motor(0);
+    }
+    else {
+        left_motor(-speed);
+        right_motor(-speed);
+    }
+}
+
+void SeeedStudioShieldBot::enable_motor_a() {
+    motor1En = 1;
+}
+
+void SeeedStudioShieldBot::enable_motor_b() {
+    motor2En = 1;
+}
+
+void SeeedStudioShieldBot::disable_motor_a() {
+    motor1En = 0;
+}
+
+void SeeedStudioShieldBot::disable_motor_b() {
+    motor2En = 0;
+}
+
+// Give a value representative of the overall data received by the sensors...
+// Output between +1 and -1.
+// Positive is right, negative left...
+float SeeedStudioShieldBot::get_sensors_overall_value() {
+    float output = 0; 
+    if (rightSensor == 1) {
+        output += 0.5;
+    }
+    if (inRightSensor == 1) {
+        output += 0.25;
+    }
+    if (leftSensor == 1) {
+        output -= 0.5;
+    }
+    if (inLeftSensor == 1) {
+        output -= 0.25;
+    }
+    
+    return output;
+}
+
+void SeeedStudioShieldBot::stopAll() {
+    motor1A = 0;
+    motor1B = 0;
+    motor2A = 0;
+    motor2B = 0;
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SeeedStudioShieldBot.h	Mon Jul 15 13:16:09 2013 +0000
@@ -0,0 +1,48 @@
+#include "mbed.h"
+
+class SeeedStudioShieldBot {
+    public:
+    
+        // Create a shield bot object, using default settings for now...
+        SeeedStudioShieldBot();
+        
+        void left_motor(float speed);
+        void right_motor(float speed);
+        
+        // Like the two above, but both at the same speed.        
+        // Negative of either will do the same job as the other (hopefully...)
+        void forward(float speed);
+        void backward(float speed);
+        
+        // This will rotate both of the motors in opposite directions, at the same speed
+        void left(float speed);
+        void right(float speed);
+
+        void disable_motor_a();
+        void disable_motor_b();
+        
+        void enable_motor_a();
+        void enable_motor_b();
+        
+        void stopAll();
+        
+        // Need to do something to do with detected line...
+        
+        float get_sensors_overall_value();
+        
+        DigitalIn rightSensor;
+        DigitalIn inRightSensor;
+        DigitalIn centreSensor;
+        DigitalIn inLeftSensor;
+        DigitalIn leftSensor;
+        
+    private:
+        PwmOut motor1A;
+        DigitalOut motor1B;
+        DigitalOut motor1En;
+        
+        // motor2A or motor2B need to be PWM, but the freedom board doesn't support it at the moment...
+        PwmOut motor2A;
+        DigitalOut motor2B;
+        DigitalOut motor2En;
+};
\ No newline at end of file