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
00012          *
00013          * @param mot1A Left Motor A pin, default D5
00014          * @param mot1B Left Motor B pin, default D6
00015          * @param mot1En Left Motor enable pin, default D7
00016          * @param mot2A Right Motor A pin, default D8
00017          * @param mot2B Right Motor B pin, default D9
00018          * @param mot2En Right Motor enable pin, default D10
00019          * @param sensor_right Sensor right pin, default A0
00020          * @param sensor_inright Sensor in-right pin, default A1
00021          * @param sensor_center Sensor right pin, default A2
00022          * @param sensor_inleft Sensor in-left pin, default A3
00023          * @param sensor_left Sensor left pin, default D4
00024          */
00025         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);
00026 
00027         /** Switch on the left motor at the given speed.
00028          *  @param speed The speed, from 0.0 to 1.0 at which to spin the motor.
00029          */
00030         void left_motor(float speed);
00031         
00032         /** Switch on the right motor at the given speed.
00033          *  @param speed The speed, from 0.0 to 1.0 at which to spin the motor.
00034          */
00035         void right_motor(float speed);
00036         
00037         /** Switch on both motors, forwards at the given speed.
00038          *  @param speed The speed, from 0.0 to 1.0 at which to spin the motor.
00039          */
00040         void forward(float speed);
00041         
00042         /** Switch on both motors, backwards at the given speed.
00043          *  @param speed The speed, from 0.0 to 1.0 at which to spin the motor.
00044          */
00045         void backward(float speed);
00046         
00047         /** Switch on both motors at the given speed, in opposite directions so as to turn left.
00048          *  @param speed The speed, from 0.0 to 1.0 at which to spin the motors.
00049         */
00050         void left(float speed);
00051         
00052         /** Switch on both motors at the given speed, in opposite directions so as to turn right.
00053          *  @param speed The speed, from 0.0 to 1.0 at which to spin the motors.
00054          */
00055         void right(float speed);
00056         
00057         /** Turns left.
00058          *  @param speed The speed, from 0.0 to 1.0 at which to spin the motor.
00059          */
00060         void turn_left(float speed);
00061         
00062         /** Turns right.
00063          *  @param speed The speed, from 0.0 to 1.0 at which to spin the motor.
00064          */
00065         void turn_right(float speed);
00066         
00067         /** Disable the left motor, by driving enable pin for the second motor low...
00068          */
00069         void disable_left_motor();
00070         
00071         /** Disable the left motor, by driving enable pin for the first motor low...
00072          */
00073         void disable_right_motor();
00074         
00075         /** Enable the left motor, by driving enable pin for the second motor high...
00076          */
00077         void enable_left_motor();
00078         
00079         /** Enable the left motor, by driving enable pin for the first motor high...
00080          */
00081         void enable_right_motor();
00082         
00083         /** Stop a chosen motor.
00084          *  @param motor Number, either 1 or 2 choosing the motor.
00085          */
00086         void stop(int motor);
00087         
00088         /** Stop left motor.
00089          */
00090         void stopLeft();
00091         
00092         /** Stop right motor.
00093          */
00094         void stopRight();
00095         
00096         /** Stop both motors at the same time. Different to disable.
00097          */
00098         void stopAll();
00099         
00100         // Need to do something to do with detected line...
00101         
00102         /** Gives an indication of the data given by the reflectivity sensors.
00103          */
00104         float line_position();
00105         
00106         DigitalIn rightSensor;
00107         DigitalIn inRightSensor;
00108         DigitalIn centreSensor;
00109         DigitalIn inLeftSensor;
00110         DigitalIn leftSensor;
00111         
00112     private:
00113         PwmOut motor1A;
00114         DigitalOut motor1B;
00115         DigitalOut motor1En;
00116         
00117         PwmOut motor2A;
00118         DigitalOut motor2B;
00119         DigitalOut motor2En;
00120 };