Diff: SeeedStudioShieldBot.cpp

Revision:

7:887c729fd7c1

Parent:

2:118efce95f3c

--- a/SeeedStudioShieldBot.cpp	Mon Jul 15 14:03:41 2013 +0000
+++ b/SeeedStudioShieldBot.cpp	Thu Jul 31 14:29:50 2014 +0000
@@ -2,39 +2,37 @@
 #include "mbed.h"
 
 
-SeeedStudioShieldBot::SeeedStudioShieldBot() :  rightSensor(PTB0),
-    inRightSensor(PTB1),
-    centreSensor(PTB2),
-    inLeftSensor(PTB3),
-    leftSensor(PTA4),
-    motor1A(PTA5),
-    motor1B(PTC9),
-    motor1En(PTC8),
-    motor2A(PTA12),
-    motor2B(PTD0),
-    motor2En(PTD5) {
+SeeedStudioShieldBot::SeeedStudioShieldBot(
+    PinName mot1A, PinName mot1En, PinName mot1B,
+    PinName mot2A, PinName mot2En, PinName mot2B,
+    PinName sensor_right, PinName sensor_inright, PinName sensor_center, PinName sensor_inleft, PinName sensor_left
+) :
+    motor1A(mot1A), motor1En(mot1En), motor1B(mot1B),
+    motor2A(mot2A), motor2En(mot2En), motor2B(mot2B),
+    rightSensor(sensor_right), inRightSensor(sensor_inright), centreSensor(sensor_center), inLeftSensor(sensor_inleft), leftSensor(sensor_left)
+{
     // Something should go here...
 }
 
-void SeeedStudioShieldBot::right_motor(float speed) { 
+void SeeedStudioShieldBot::right_motor(float speed)
+{
     // The bit that's actually needed...
     if (speed >= 0) {
         motor1A = speed;
         motor1B = 0;
-    }
-    else {
+    } else {
         motor1A = 1 + speed;
         motor1B = 1;
     }
 }
 
-void SeeedStudioShieldBot::left_motor(float speed) {   
+void SeeedStudioShieldBot::left_motor(float speed)
+{
     // Useful bit
     if (speed >= 0) {
         motor2A = speed;
         motor2B = 0;
-    }
-    else {
+    } else {
         motor2A = 1 + speed;
         motor2B = 1;
     }
@@ -42,65 +40,84 @@
 
 // The following two functions turn the robot on the spot...
 
-void SeeedStudioShieldBot::left(float speed) {
+void SeeedStudioShieldBot::left(float speed)
+{
     left_motor(-speed);
     right_motor(speed);
 }
 
-void SeeedStudioShieldBot::right(float speed) {
+void SeeedStudioShieldBot::right(float speed)
+{
     left_motor(speed);
     right_motor(-speed);
 }
 
+void SeeedStudioShieldBot::turn_left(float speed)
+{
+    left_motor(speed);
+    right_motor(0);
+}
+
+void SeeedStudioShieldBot::turn_right(float speed)
+{
+    left_motor(0);
+    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) {
+void SeeedStudioShieldBot::forward(float speed)
+{
     if (speed == 0) {
         left_motor(0);
         right_motor(0);
-    }
-    else {
+    } else {
         left_motor(speed);
         right_motor(speed);
     }
 }
 
-void SeeedStudioShieldBot::backward(float speed) {
+void SeeedStudioShieldBot::backward(float speed)
+{
     if (speed == 0) {
         left_motor(0);
         right_motor(0);
-    }
-    else {
+    } else {
         left_motor(-speed);
         right_motor(-speed);
     }
 }
 
-void SeeedStudioShieldBot::enable_right_motor() {
+void SeeedStudioShieldBot::enable_right_motor()
+{
     motor1En = 1;
 }
 
-void SeeedStudioShieldBot::enable_left_motor() {
+void SeeedStudioShieldBot::enable_left_motor()
+{
     motor2En = 1;
 }
 
-void SeeedStudioShieldBot::disable_right_motor() {
+void SeeedStudioShieldBot::disable_right_motor()
+{
     motor1En = 0;
 }
 
-void SeeedStudioShieldBot::disable_left_motor() {
+void SeeedStudioShieldBot::disable_left_motor()
+{
     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::line_position() {
-    float output = 0; 
+float SeeedStudioShieldBot::line_position()
+{
+    float output = 0;
     if (rightSensor == 1) {
         output += 0.5;
     }
@@ -113,25 +130,33 @@
     if (inLeftSensor == 1) {
         output -= 0.5;
     }
-    
+
     return output;
 }
 
-void SeeedStudioShieldBot::stopAll() {
+void SeeedStudioShieldBot::stop(int motor)
+{
+    if (motor == 1) {
+        stopLeft();
+    } else if (motor == 2) {
+        stopRight();
+    }
+}
+
+void SeeedStudioShieldBot::stopLeft()
+{
     motor1A = 0;
     motor1B = 0;
+}
+
+void SeeedStudioShieldBot::stopRight()
+{
     motor2A = 0;
     motor2B = 0;
 }
 
-void SeeedStudioShieldBot::stop(int motor) {
-    if (motor == 1) {
-        // Stop motor 0...
-        motor1A = 0;
-        motor1B = 0;
-    }
-    else if (motor == 2) {
-        motor2A = 0;
-        motor2B = 0;
-    }
-}
\ No newline at end of file
+void SeeedStudioShieldBot::stopAll()
+{
+    stopLeft();
+    stopRight();
+}