SeeedStudioShieldBot.h

00001 #include "mbed.h"
00002 
00003 /** Seeed Studio Shield Bot Control Class
00004  *  In order to use this properly, you need to connect a jumper between pins eight and three on the shield bot, and you can't use either pins 8 or 3, which correspond to PTA13 and PTA12, respectively.
00005  *  Also, in order to provide power to the freedom board, when running just of a lipo battery, you need to connect between 5V and VIN on the shield bot.
00006  *  Code/notes above only tested with version 0.9b, may not be needed/may not work in other cases...
00007 */
00008 class SeeedStudioShieldBot {
00009     public:
00010     
00011         // Create a shield bot object, using default settings for now...
00012         SeeedStudioShieldBot();
00013         
00014         /** Switch on the left motor at the given speed.
00015          *  @param speed The speed, from 0.0 to 1.0 at which to spin the motor.
00016         */
00017         void left_motor(float speed);
00018         
00019         /** Switch on the right motor at the given speed.
00020          *  @param speed The speed, from 0.0 to 1.0 at which to spin the motor.
00021         */
00022         void right_motor(float speed);
00023         
00024         /** Switch on both motors, forwards at the given speed.
00025          *  @param speed The speed, from 0.0 to 1.0 at which to spin the motor.
00026         */
00027         void forward(float speed);
00028         
00029         /** Switch on both motors, backwards at the given speed.
00030          *  @param speed The speed, from 0.0 to 1.0 at which to spin the motor.
00031         */
00032         void backward(float speed);
00033         
00034         /** Switch on both motors at the given speed, in opposite directions so as to turn left.
00035          *  @param speed The speed, from 0.0 to 1.0 at which to spin the motors.
00036         */
00037         void left(float speed);
00038         
00039         /** Switch on both motors at the given speed, in opposite directions so as to turn right.
00040          *  @param speed The speed, from 0.0 to 1.0 at which to spin the motors.
00041         */
00042         void right(float speed);
00043 
00044         /** Disable the left motor, by driving enable pin for the second motor low...
00045         */
00046         void disable_left_motor();
00047         
00048         /** Disable the left motor, by driving enable pin for the first motor low...
00049         */
00050         void disable_right_motor();
00051         
00052         /** Enable the left motor, by driving enable pin for the second motor high...
00053         */
00054         void enable_left_motor();
00055         
00056         /** Enable the left motor, by driving enable pin for the first motor high...
00057         */
00058         void enable_right_motor();
00059         
00060         /** Stop both motors at the same time. Different to disable.
00061         */
00062         void stopAll();
00063         
00064         /** Stop a chosen motor.
00065          *  @param motor Number, either 1 or 2 choosing the motor.
00066         */
00067         void stop(int motor);
00068         
00069         // Need to do something to do with detected line...
00070         
00071         /** Gives an indication of the data given by the reflectivity sensors.
00072         */
00073         float line_position();
00074         
00075         DigitalIn rightSensor;
00076         DigitalIn inRightSensor;
00077         DigitalIn centreSensor;
00078         DigitalIn inLeftSensor;
00079         DigitalIn leftSensor;
00080         
00081     private:
00082         PwmOut motor1A;
00083         DigitalOut motor1B;
00084         DigitalOut motor1En;
00085         
00086         // motor2A or motor2B need to be PWM, but the freedom board doesn't support it at the moment...
00087         PwmOut motor2A;
00088         DigitalOut motor2B;
00089         DigitalOut motor2En;
00090 };