Revision 0:bb5c5d6800a3, committed 2013-10-27

Comitter:

narendraj9

Date:

Sun Oct 27 09:16:19 2013 +0000

Child:

1:c31299ed92f1

Commit message:

our main robot library

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Robo.cpp	Sun Oct 27 09:16:19 2013 +0000
@@ -0,0 +1,145 @@
+#include "Robo.h"
+extern DigitalOut buzzer;
+
+/* implementation of the Robo contructor */
+Robo::Robo(PinName l_en, PinName l_fwd, PinName l_rev,
+         PinName r_en, PinName r_fwd, PinName r_rev,
+         PinName rs, PinName en, PinName d4, PinName d5, 
+         PinName d6, PinName d7):
+         lmotor(l_en, l_fwd, l_rev), rmotor(r_en, r_fwd, r_rev),
+         lcd(rs, en, d4, d5, d6, d7)
+{
+    lives = max_lives;
+    init();
+}
+
+/* I changed the cls function in the textLCD library
+ * to make it clear only the first row
+ */
+void Robo::printlcd(char *msg) // printf msg to the first row of LCD
+{
+    lcd.cls();  
+    lcd.printf(msg);
+}
+void Robo::init() // print the initial msg on the LCD
+{
+    buzzer = 1;
+    lcd.cls_all();
+    updateLivesLCD();
+    for (int i = 0; i < 2; i++) {
+        printlcd("Roger Here!");
+        wait(1);
+        buzzer = 0;
+        printlcd("            ");
+        wait(1);
+        
+    }
+    printlcd("Roger Here!");
+    
+}
+
+/* I believe the following functions are pretty straight forward to 
+ * understand
+ */
+
+void Robo::goLeft() 
+{
+    rState temp = this->getState(); // store the current state
+    lcd.cls();
+    lcd.printf("Going Left!    ");
+    lmotor.direct(0);   // stop the left motor
+    rmotor.direct(1);   // start the right motor
+    wait(1);
+    this->setState(temp);   // restore original state
+    
+}
+
+void Robo::moveRight() 
+{
+    lcd.cls();
+    rState temp = this->getState();
+    lcd.printf("Turning Right! ");
+    rmotor.direct(0);
+    lmotor.direct(1);
+    wait(1);
+    this->setState(temp);
+}
+
+void Robo::stop() 
+{
+    lcd.cls();
+    rmotor.direct(0); // stop motor left
+    lmotor.direct(0); // stop motor right
+    lcd.printf("Stopped!       ");
+}
+
+void Robo::goAhead() 
+{
+    lcd.cls();
+    lcd.locate(0, 0);
+    rmotor.direct(1);
+    lmotor.direct(1);
+    lcd.printf("Moving Forward!");
+}
+
+void Robo::moveBack()
+{
+    lcd.cls();
+    rmotor.direct(-1);
+    lmotor.direct(-1);
+    lcd.printf("Going Back     ");
+}
+
+int Robo::getLives()
+{
+    return lives;
+}
+
+// update LCD with the current value of the variable lives
+void Robo::updateLivesLCD() { 
+    lcd.locate(0, 1);
+    lcd.printf("lives : %d", lives);
+    lcd.locate(0, 0);
+}
+
+void Robo::decLives()
+{
+    lives--;
+    printlcd("oops!!         ");
+    updateLivesLCD();
+    if (lives == 0) {
+        stop();
+        int i = 0;
+    /* if all lives have been exhausted say goodbye to the world 
+     * and rest in a peaceful forever loop
+     */
+        while (++i) {
+            printlcd("GoodBye!!       ");
+            wait(0.5);
+            printlcd("           ");
+            wait(0.5);
+            if (i < 4)
+                buzzer = 1;
+            wait(1);
+            buzzer = 0;
+        }
+    }
+    buzzer = 1;
+    wait(1);
+    buzzer = 0;
+    wait(2);
+}
+
+rState Robo::getState()
+{
+    mState lm = lmotor.getState();
+    mState rm = rmotor.getState();
+    rState temp = {lm, rm }; // return a struct var containing the
+    return temp;
+}
+
+void Robo::setState(rState roboState) 
+{
+    lmotor.setState(roboState.lm);
+    rmotor.setState(roboState.rm);
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Robo.h	Sun Oct 27 09:16:19 2013 +0000
@@ -0,0 +1,50 @@
+#ifndef __ROBO_H
+#define __ROBO_H
+
+#include "Motor.h"
+#include "mbed.h"
+#include "TextLCD.h"
+
+// intial lives each robot has
+const int max_lives = 5;
+
+/* for storing the motors' state, e.g. the robot is moving forward
+ * and it receives a request to go left. After it has turned left
+ * it must keep moving forward. So we use this structure to backup and restore
+ * motors' state.
+ */
+struct rState {
+    mState lm; // pin states of the left motor
+    mState rm; // pin states of the right motor
+};
+
+/* main Robo Class definition 
+ */
+class Robo {
+    int lives;
+    Motor lmotor;
+    Motor rmotor;
+    TextLCD lcd;
+ public :
+    Robo(PinName l_en, PinName l_fwd, PinName l_rev, // left motor's enable, forward, and reverse
+         PinName r_en, PinName r_fwd, PinName r_rev, // right motor's enable, forward and reverse
+         PinName rs, PinName en, PinName d4, PinName d5, // pins for LCD rs, en , d4-d7
+         PinName d6, PinName d7);
+    void init();    // for initialization of the robot
+    void printlcd(char *); // print a message on the robot's lcd
+    void updateLivesLCD(); // update the lives count
+    void goLeft();  
+    void moveRight();
+    void stop();
+    void goAhead();
+    void moveBack();
+    int getLives(); // get the number of lives left
+    void decLives(); // decrease the number of lives
+    rState getState(); // get the state of the robot
+    void setState(rState); // set the state of the robot
+        
+};
+
+
+
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TextLCD.lib	Sun Oct 27 09:16:19 2013 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/simon/code/TextLCD/#228a730399f3