Tarek Lule / CreaBotLib

My Version of CreaBotLib

Fork of CreaBotLib by CreaLab

CreaBot.h@12:530772639065, 2019-04-18 (annotated)

Committer:
sepp_nepp
Date:
Thu Apr 18 12:06:07 2019 +0000
Revision:
12:530772639065
Parent:
11:5a94af0afa12 
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Who changed what in which revision?

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sepp_nepp 7:3a793ddc3490 1 /*
sepp_nepp 8:3b5b0a82b429 2 * \file CreaBot.h
sepp_nepp 8:3b5b0a82b429 3 * \brief File contains Creabot Library.
sepp_nepp 6:4d8938b686a6 4
sepp_nepp 9:efe9f76d6f76 5 * CreaBot.h contains the Creabot class, and required enums and structs.
sepp_nepp 11:5a94af0afa12 6 * Imports "mbed.h" and "CreaMot.h"
sepp_nepp 6:4d8938b686a6 7
sepp_nepp 6:4d8938b686a6 8 * Refactorings:
sepp_nepp 9:efe9f76d6f76 9 * All variables with suffixes "_cm_sec" = speeds in centimeters per second.
sepp_nepp 9:efe9f76d6f76 10 * MotCommand -> BotCommand.
sepp_nepp 9:efe9f76d6f76 11 * cmdbot_t -> BotCmdVerb.
sepp_nepp 9:efe9f76d6f76 12 * cm -> dist_cm.
sepp_nepp 9:efe9f76d6f76 13 * 'motorxx' -> 'wheelxxx': each motor now becomes a 'wheel with a diameter'
sepp_nepp 9:efe9f76d6f76 14 * FIFO queue management merged with Creabot Class, now called Queue
sepp_nepp 9:efe9f76d6f76 15 * Queue does not use another extra ticker anymore. Instead triggers from Motor End commands.
sepp_nepp 10:79509113310a 16 * Queue is worked through, and Callback is not called, until queue is empty.
sepp_nepp 9:efe9f76d6f76 17 *
sepp_nepp 10:79509113310a 18 * @author Tarek Lule based on work of Francois Druilhe, et al.
sepp_nepp 10:79509113310a 19 * @date 21. April 2019
sepp_nepp 8:3b5b0a82b429 20 * @see https://os.mbed.com/users/sepp_nepp/code/CreaBotLib/ */
sepp_nepp 6:4d8938b686a6 21
sepp_nepp 9:efe9f76d6f76 22 // -------------------- wheel ---------------------------
sepp_nepp 6:4d8938b686a6 23
garphil 0:a7fb03c9ea9d 24 #ifndef CREABOT_H
garphil 0:a7fb03c9ea9d 25 #define CREABOT_H
garphil 0:a7fb03c9ea9d 26
garphil 0:a7fb03c9ea9d 27 #include "mbed.h"
sepp_nepp 11:5a94af0afa12 28 #include "CreaMot.h"
garphil 0:a7fb03c9ea9d 29
sepp_nepp 8:3b5b0a82b429 30 #define DEFAULT_SPEED_CM_SEC 2.0f /**< Default advancement speed = 2.0cm/sec, was DEFAULT_SPEED */
sepp_nepp 9:efe9f76d6f76 31 #define DEPTH_Queue 256 /**< Initialize the depth of the command Queue to 256 */
garphil 0:a7fb03c9ea9d 32
sepp_nepp 8:3b5b0a82b429 33 /** \enum BotCmdVerb
sepp_nepp 8:3b5b0a82b429 34 * \brief Robot Commands Verbs, gives the movement direction
sepp_nepp 12:530772639065 35 * IDLE is no longer supported */
sepp_nepp 6:4d8938b686a6 36 typedef enum {
sepp_nepp 9:efe9f76d6f76 37 FORWARD, /**< Advance the robot straight forward */
sepp_nepp 9:efe9f76d6f76 38 BACKWARD, /**< Reverse the robot straight backwards */
sepp_nepp 9:efe9f76d6f76 39 ROTATE, /**< Rotate around its own axis*/
sepp_nepp 9:efe9f76d6f76 40 LEFT, /**< Advance in a left curve */
sepp_nepp 9:efe9f76d6f76 41 RIGHT, /**< Advance in a right curve */
sepp_nepp 9:efe9f76d6f76 42 BACKLEFT, /**< Reverse in a left curve */
sepp_nepp 9:efe9f76d6f76 43 BACKRIGHT /**< Reverse in a right curve */
sepp_nepp 6:4d8938b686a6 44 } BotCmdVerb;
sepp_nepp 6:4d8938b686a6 45
sepp_nepp 5:efe80c5db389 46
sepp_nepp 9:efe9f76d6f76 47 /** \enum TWheelsState
sepp_nepp 10:79509113310a 48 * \brief Possible states of the two wheels of the CreaBot
sepp_nepp 10:79509113310a 49 * Can be ored together */
sepp_nepp 6:4d8938b686a6 50 typedef enum {
sepp_nepp 9:efe9f76d6f76 51 LRWHEELS_STOP = 0, /**< All wheels have stopped */
sepp_nepp 9:efe9f76d6f76 52 LWHEEL_RUNS = 1, /**< Left wheel runs */
sepp_nepp 10:79509113310a 53 RWHEEL_RUNS = 2, /**< Right wheel runs */
sepp_nepp 9:efe9f76d6f76 54 LRWHEELS_RUN = 3, /**< Both wheels run */
sepp_nepp 9:efe9f76d6f76 55 } TWheelsState;
sepp_nepp 6:4d8938b686a6 56
sepp_nepp 8:3b5b0a82b429 57 /** \struct BotCommand
sepp_nepp 10:79509113310a 58 * \brief Structure of a CreaBot Command.
sepp_nepp 9:efe9f76d6f76 59 * The command structure is put into command Queue, and treated by the Queue-Handler */
sepp_nepp 6:4d8938b686a6 60 typedef struct {
sepp_nepp 10:79509113310a 61 BotCmdVerb command; /**< Command type that gives movement direction.*/
sepp_nepp 8:3b5b0a82b429 62 float dist_cm; /**< Distance in dist_cm for translational movements .*/
sepp_nepp 9:efe9f76d6f76 63 float turn_angle_deg; /**< Angle in degree for rotational movement .*/
sepp_nepp 9:efe9f76d6f76 64 void set(BotCmdVerb Acommand, float Aturn_angle_deg, float Adist_cm); /**< Helper; set structure fields to values */
sepp_nepp 8:3b5b0a82b429 65 void set(BotCmdVerb Acommand, float Aparam); /**< Helper; set structure fields to values */
sepp_nepp 6:4d8938b686a6 66 } BotCommand;
sepp_nepp 6:4d8938b686a6 67
garphil 0:a7fb03c9ea9d 68
sepp_nepp 8:3b5b0a82b429 69 /** \class Creabot
garphil 0:a7fb03c9ea9d 70
sepp_nepp 9:efe9f76d6f76 71 * \brief Synchronous Control of 2 wheels as part of a two wheel robot
sepp_nepp 9:efe9f76d6f76 72 *
sepp_nepp 10:79509113310a 73 * Handles two instances of CreaMot from motor.h library simultaneously.
sepp_nepp 9:efe9f76d6f76 74 * Using the set distance between the wheels, allows to run pecise curves.
sepp_nepp 12:530772639065 75 *
sepp_nepp 12:530772639065 76 * A first set of movement functions starting with qXXX are using command verbs,
sepp_nepp 10:79509113310a 77 * these commands are queued up in a waiting queue,
sepp_nepp 10:79509113310a 78 * and are executed one by one in programmed order.
sepp_nepp 12:530772639065 79 *
sepp_nepp 10:79509113310a 80 * A second set of movement functions starting with iXXX are also using command verbs,
sepp_nepp 10:79509113310a 81 * however these commands are executed immediately,
sepp_nepp 10:79509113310a 82 * they override each other if issued while the previous movement still ongoing
sepp_nepp 12:530772639065 83 *
sepp_nepp 10:79509113310a 84 * A third set of movements functions starting with moveXXXX are provided,
sepp_nepp 10:79509113310a 85 * each function performs one specific movement, also immediately.
sepp_nepp 10:79509113310a 86 * So they also override each other, and collide with queued commands.
sepp_nepp 12:530772639065 87 *
sepp_nepp 9:efe9f76d6f76 88 * A callback is supplied to react to the end of all programmed movements.
sepp_nepp 9:efe9f76d6f76 89 *
sepp_nepp 9:efe9f76d6f76 90 * Example:
sepp_nepp 9:efe9f76d6f76 91 * @code
sepp_nepp 9:efe9f76d6f76 92 * // --- Define the Four PINs & Time of movement used for wheel drive -----
sepp_nepp 10:79509113310a 93 * CreaMot wheelLeft(PA_12, PB_0, PB_1, PB_6); // Declare first the 2 wheels (to avoid to have an object with 8 pins to create)
sepp_nepp 10:79509113310a 94 * CreaMot wheelRight(PA_5,PA_4,PA_3,PA_1);
sepp_nepp 12:530772639065 95 * CreaBot mybot(&wheelLeft, &WheelRight, 10.0f, 13.0f); // insert the wheels and indicate wheel diameter (10cm) and distance between wheels (13cm)
sepp_nepp 9:efe9f76d6f76 96 *
sepp_nepp 9:efe9f76d6f76 97 * int main() {
sepp_nepp 9:efe9f76d6f76 98 *
sepp_nepp 9:efe9f76d6f76 99 * mybot.setSpeed(12.5); // Preset speed to 12.5cm/s
sepp_nepp 9:efe9f76d6f76 100 * mybot.iMove(FORWARD,10); // Go forward of 10cm
sepp_nepp 9:efe9f76d6f76 101 * mybot.iWaitEnd(); // Wait end of Move
sepp_nepp 9:efe9f76d6f76 102 * mybot.iMove(ROTATE,90); // Start rotation of 90° around the center between wheels (two wheels running in same direction at same speed)
sepp_nepp 9:efe9f76d6f76 103 * mybot.iMove(BACKWARD,40); // Stop immediately the rotation and go backward of 40cm
sepp_nepp 9:efe9f76d6f76 104 * mybot.iWaitEnd(); // Wait end of Backward
sepp_nepp 9:efe9f76d6f76 105 * mybot.iMoveAndWait(LEFT,60); // Move Left of 60° in circle, center being the left wheel (off). Wait end of move
sepp_nepp 9:efe9f76d6f76 106 * mybot.iWaitEnd(); // Not needed, as already waited...
sepp_nepp 9:efe9f76d6f76 107 * mybot.iMoveAndWait(RIGHT,45, 33); // Move Right of 45°, center being at 33cm of the right wheel. Right wheel moving slower and on a shorter distance than left one.
sepp_nepp 9:efe9f76d6f76 108 * mybot.iMoveAndWait(ROTATE,90);
sepp_nepp 9:efe9f76d6f76 109 * mybot.iMove(ROTATE,-90); // Opposite direction.
sepp_nepp 9:efe9f76d6f76 110 * mybot.iWaitEnd(6); // with time-out => if after 6s the move is not ended, continue the execution
sepp_nepp 9:efe9f76d6f76 111 * mybot.iStop(); // Stop the movement in case it was not ended before ...
sepp_nepp 9:efe9f76d6f76 112 *
sepp_nepp 9:efe9f76d6f76 113 * // Same with a Queue of command, opposite to the move, receiving a new command will not stop the current execution, but the bot will store it.
sepp_nepp 9:efe9f76d6f76 114 * mybot.qMove(FORWARD,10); // Already starting...
sepp_nepp 9:efe9f76d6f76 115 * mybot.qMove(BACKWARD,10); // will wait end of previous command to go
sepp_nepp 9:efe9f76d6f76 116 * mybot.qMove(ROTATE,120.0);
sepp_nepp 9:efe9f76d6f76 117 * mybot.qMove(LEFT, 30, 120);
sepp_nepp 9:efe9f76d6f76 118 * mybot.qMove(RIGHT, 25);
sepp_nepp 9:efe9f76d6f76 119 * ... // insert other code here that executes while the motors continue to move
sepp_nepp 9:efe9f76d6f76 120 * mybot.iWaitEnd(100000); // wait until Queue end... can flush anytime with stopMove...
sepp_nepp 9:efe9f76d6f76 121 * mybot.qEmpty(); // before end... Flush the Queue and remove all instructions…
sepp_nepp 9:efe9f76d6f76 122 *
sepp_nepp 9:efe9f76d6f76 123 * while(1) {
sepp_nepp 9:efe9f76d6f76 124 * };
sepp_nepp 9:efe9f76d6f76 125 * }
sepp_nepp 9:efe9f76d6f76 126 * @endcode
sepp_nepp 9:efe9f76d6f76 127 */
sepp_nepp 5:efe80c5db389 128
garphil 0:a7fb03c9ea9d 129 class Creabot {
garphil 0:a7fb03c9ea9d 130 public:
sepp_nepp 9:efe9f76d6f76 131 /** Create a Creabot object with 2 wheels
garphil 0:a7fb03c9ea9d 132 *
sepp_nepp 12:530772639065 133 * @param[in] <left> CreaMot object, corresponding to left wheel of the Creabot
sepp_nepp 12:530772639065 134 * @param[in] <right> CreaMot object, corresponding to right wheel of the Creabot
sepp_nepp 12:530772639065 135 * @param[in] <wheel_diam_cm> Diameter in cm of the wheels (both must be the same diameter)
sepp_nepp 12:530772639065 136 * @param[in] <bot_diam_cm> Distance cm between center of left wheel and center of right wheel
garphil 0:a7fb03c9ea9d 137 */
sepp_nepp 10:79509113310a 138 Creabot(CreaMot *left, CreaMot *right, float wheel_diam_cm, float bot_diam_cm);
sepp_nepp 6:4d8938b686a6 139
sepp_nepp 9:efe9f76d6f76 140 /** Property access to wheel state, indicating which of the wheels are moving */
sepp_nepp 9:efe9f76d6f76 141 TWheelsState getState() {return wheelsState; };
garphil 0:a7fb03c9ea9d 142
sepp_nepp 9:efe9f76d6f76 143 /** Setup a Callback method. It is called when all programmed movements are finished. */
sepp_nepp 10:79509113310a 144 void setCallBack(void (*Acallback)(int status)) { extCallBack = Acallback; };
sepp_nepp 9:efe9f76d6f76 145
sepp_nepp 9:efe9f76d6f76 146 /** High level: set bot-speed parameter for all future wheel commands.
sepp_nepp 10:79509113310a 147 * The set speed is used for immediate as well as the queued movements.
sepp_nepp 12:530772639065 148 * In a curve movement it determines the speed of the outer wheel.
sepp_nepp 12:530772639065 149 *
sepp_nepp 12:530772639065 150 * @param[in] <AbotSpeed_cm_sec> requested movement speed */
sepp_nepp 9:efe9f76d6f76 151 void setSpeed(float AbotSpeed_cm_sec);
sepp_nepp 7:3a793ddc3490 152
sepp_nepp 7:3a793ddc3490 153 public:
sepp_nepp 9:efe9f76d6f76 154
sepp_nepp 10:79509113310a 155 /** High level, queued: move bot according to command and parameter
sepp_nepp 12:530772639065 156 *
sepp_nepp 9:efe9f76d6f76 157 * Composes a BotCommand and appends it to the queue for queued execution.
sepp_nepp 9:efe9f76d6f76 158 * Use for commands that need only one parameter: FORWARD, BACKWARD, ROTATE
sepp_nepp 9:efe9f76d6f76 159 * For details refer to docu of moveForward(), moveBackward(), moveRotate().
sepp_nepp 12:530772639065 160 * Preset the speed using setSpeed().
sepp_nepp 10:79509113310a 161 *
sepp_nepp 9:efe9f76d6f76 162 * @param[in] <Acommand> Requested movement, of type BotCmdVerb.
sepp_nepp 9:efe9f76d6f76 163 * @param[in] <Aparam> Requested amount, defines angle for ROTATE, or distance for FORWARD, BACKWARD.
sepp_nepp 9:efe9f76d6f76 164 */
sepp_nepp 9:efe9f76d6f76 165 void qMove(BotCmdVerb Acommand, float Aparam);
sepp_nepp 9:efe9f76d6f76 166
sepp_nepp 9:efe9f76d6f76 167 /** High level, queued : move bot according to command and parameters
sepp_nepp 12:530772639065 168 *
sepp_nepp 9:efe9f76d6f76 169 * Composes a BotCommand and appends it to the queue for queued execution.
sepp_nepp 9:efe9f76d6f76 170 * Use for commands that need two parameters: LEFT, RIGHT, BACKLEFT, BACKRIGHT
sepp_nepp 10:79509113310a 171 * For details refer to docu of moveLeft(), moveRight(), moveBackLeft(), moveBackRight().
sepp_nepp 9:efe9f76d6f76 172 *
sepp_nepp 10:79509113310a 173 * Reserves a new command element at the head of the Queue
sepp_nepp 9:efe9f76d6f76 174 *
sepp_nepp 9:efe9f76d6f76 175 * Adds incoming commands at the head of the ring buffer at position writeIdx,
sepp_nepp 9:efe9f76d6f76 176 * If Queue is full, it passes back NULL
sepp_nepp 9:efe9f76d6f76 177 * Otherwise Advances the write index once and returns a pointer the next free command struct.
sepp_nepp 9:efe9f76d6f76 178 * The caller then must fill the command structure at that position.
sepp_nepp 9:efe9f76d6f76 179 * Do not free memory associated to the pointer.
sepp_nepp 9:efe9f76d6f76 180 *
sepp_nepp 9:efe9f76d6f76 181 * @param[in] <Acommand> Requested movement, of type BotCmdVerb.
sepp_nepp 9:efe9f76d6f76 182 * @param[in] <Aturn_angle_deg> Requested angle in degrees.
sepp_nepp 9:efe9f76d6f76 183 * @param[in] <Adist_cm> Requested distance in centimeters.
sepp_nepp 9:efe9f76d6f76 184 */
sepp_nepp 9:efe9f76d6f76 185 void qMove(BotCmdVerb Acommand, float Aturn_angle_deg, float Adist_cm);
sepp_nepp 9:efe9f76d6f76 186
sepp_nepp 9:efe9f76d6f76 187 /** Execute and remove the oldest element at the tail of the Queue
sepp_nepp 9:efe9f76d6f76 188 *
sepp_nepp 9:efe9f76d6f76 189 * If Queue is empty, nothing happens
sepp_nepp 9:efe9f76d6f76 190 * Otherwise executes oldest commands from the tail of the ring buffer at position readIdx,
sepp_nepp 10:79509113310a 191 * Then advances the read index once. */
sepp_nepp 9:efe9f76d6f76 192 void qExecuteNext();
sepp_nepp 9:efe9f76d6f76 193
sepp_nepp 9:efe9f76d6f76 194 /** Public access of Queue used Count.
sepp_nepp 9:efe9f76d6f76 195 *
sepp_nepp 9:efe9f76d6f76 196 * @return <int> the number of commands in the Queue */
sepp_nepp 9:efe9f76d6f76 197 int qCount() {return Count;}
sepp_nepp 8:3b5b0a82b429 198
sepp_nepp 9:efe9f76d6f76 199 /* Immediately end all queue activites, and the motor
sepp_nepp 9:efe9f76d6f76 200 * Does not call the external callback handler */
sepp_nepp 9:efe9f76d6f76 201 void qStopAll();
sepp_nepp 9:efe9f76d6f76 202
sepp_nepp 9:efe9f76d6f76 203 private:
sepp_nepp 9:efe9f76d6f76 204 /** Empty the Queue.
sepp_nepp 10:79509113310a 205 * Since the ring buffer is static, it suffice to set all pointers to 0,
sepp_nepp 10:79509113310a 206 * Commands are left in memory. */
sepp_nepp 9:efe9f76d6f76 207 void qReset() { qBlock = true; readIdx=writeIdx=Count=0; qBlock = false; qCollide = false;};
sepp_nepp 9:efe9f76d6f76 208
sepp_nepp 10:79509113310a 209 /** Check if Queue is full.
sepp_nepp 9:efe9f76d6f76 210 *
sepp_nepp 9:efe9f76d6f76 211 * Space is limited to DEPTH_Queue=256 BotCommand elements.
sepp_nepp 10:79509113310a 212 * If in doubt it should be checked before trying to add new elements
sepp_nepp 9:efe9f76d6f76 213 * @return <bool> True if Queue is full*/
sepp_nepp 9:efe9f76d6f76 214 bool qIsFull() {return Count>=DEPTH_Queue;}
sepp_nepp 9:efe9f76d6f76 215
sepp_nepp 10:79509113310a 216 /** Check if Queue is empty.
sepp_nepp 10:79509113310a 217 *
sepp_nepp 9:efe9f76d6f76 218 * Should be checked before trying to get new elements
sepp_nepp 9:efe9f76d6f76 219 * @return <bool> True if Queue is empty*/
sepp_nepp 9:efe9f76d6f76 220 bool qIsEmpty() {return Count<=0;}
sepp_nepp 9:efe9f76d6f76 221
sepp_nepp 9:efe9f76d6f76 222 /** 256 elements deep Command Queue, to put BotCommand in a queue.
sepp_nepp 9:efe9f76d6f76 223 * Stores all BotCommand in this static 256 array used as a circular ring buffer. */
sepp_nepp 9:efe9f76d6f76 224 BotCommand cmd[DEPTH_Queue]; /**< Actual static Queue array where all elements reside. */
sepp_nepp 9:efe9f76d6f76 225
sepp_nepp 9:efe9f76d6f76 226 int writeIdx; /**< Index in Queue array where to put the next new element to. */
sepp_nepp 9:efe9f76d6f76 227 int readIdx; /**< Index in Queue array where to get the oldest element from. */
sepp_nepp 9:efe9f76d6f76 228 int Count; /**< Counts and keeps track of the number of elements in array used. */
sepp_nepp 9:efe9f76d6f76 229 bool qBlock; /**< Blocks read access while a write is ongoing. */
sepp_nepp 9:efe9f76d6f76 230 bool qCollide;/**< Indicates a colliding access to the queue. */
sepp_nepp 10:79509113310a 231
sepp_nepp 9:efe9f76d6f76 232 public:
sepp_nepp 9:efe9f76d6f76 233 /** High level, immediate: move bot and wait for movement end.
sepp_nepp 12:530772639065 234 * Simple wrapper for iMove() and iWaitEnd().
sepp_nepp 9:efe9f76d6f76 235 * Refer to those methods for further docs.
sepp_nepp 9:efe9f76d6f76 236 */
sepp_nepp 9:efe9f76d6f76 237 void iMoveAndWait(BotCmdVerb Acommand, float Aparam);
sepp_nepp 9:efe9f76d6f76 238
sepp_nepp 9:efe9f76d6f76 239 /** High level, immediate: move bot and wait for movement end.
sepp_nepp 12:530772639065 240 * Simple wrapper for iMove() and iWaitEnd().
sepp_nepp 9:efe9f76d6f76 241 * Refer to those methods for further docs.
sepp_nepp 9:efe9f76d6f76 242 */
sepp_nepp 9:efe9f76d6f76 243 void iMoveAndWait(BotCmdVerb Acommand, float Aturn_angle_deg, float Adist_cm);
sepp_nepp 9:efe9f76d6f76 244
sepp_nepp 9:efe9f76d6f76 245 /** High level, immediate: move bot according to command and parameter
sepp_nepp 9:efe9f76d6f76 246 * Composes a BotCommand and passes it to executeCommand().
sepp_nepp 8:3b5b0a82b429 247 * Use for commands that need only one parameter: FORWARD, BACKWARD, ROTATE
sepp_nepp 9:efe9f76d6f76 248 * For details refer to docu of moveForward(), moveBackward(), moveRotate().
sepp_nepp 9:efe9f76d6f76 249 * Preset the speed using setSpeed().
sepp_nepp 8:3b5b0a82b429 250 * Warning: Collides with queued commands.
sepp_nepp 10:79509113310a 251 *
sepp_nepp 9:efe9f76d6f76 252 * @param[in] <Acommand> Requested movement, of type BotCmdVerb.
sepp_nepp 9:efe9f76d6f76 253 * @param[in] <Aparam> Requested amount, defines angle for ROTATE, or distance for FORWARD, BACKWARD.
sepp_nepp 9:efe9f76d6f76 254 */
sepp_nepp 9:efe9f76d6f76 255 void iMove(BotCmdVerb Acommand, float Aparam);
sepp_nepp 9:efe9f76d6f76 256
sepp_nepp 9:efe9f76d6f76 257 /** High level, immediate: move bot according to command and parameters
sepp_nepp 9:efe9f76d6f76 258 * Composes a BotCommand and passes it to executeCommand().
sepp_nepp 9:efe9f76d6f76 259 * Use for commands that need two parameters: LEFT, RIGHT, BACKLEFT, BACKRIGHT
sepp_nepp 10:79509113310a 260 * For details refer to docu of moveLeft(), moveRight(), moveBackLeft(), moveBackRight().
sepp_nepp 9:efe9f76d6f76 261 * Preset the speed using setSpeed().
sepp_nepp 9:efe9f76d6f76 262 * Warning: Collides with queued commands.
sepp_nepp 10:79509113310a 263 *
sepp_nepp 9:efe9f76d6f76 264 * @param[in] <Acommand> Requested movement, of type BotCmdVerb.
sepp_nepp 9:efe9f76d6f76 265 * @param[in] <Aturn_angle_deg> Requested angle in degrees.
sepp_nepp 9:efe9f76d6f76 266 * @param[in] <Adist_cm> Requested distance in centimeters.
sepp_nepp 8:3b5b0a82b429 267 */
sepp_nepp 9:efe9f76d6f76 268 void iMove(BotCmdVerb Acommand, float Aturn_angle_deg, float Adist_cm);
sepp_nepp 9:efe9f76d6f76 269
sepp_nepp 9:efe9f76d6f76 270 /** High level, immediate: move bot according to prefilled command structures.
sepp_nepp 10:79509113310a 271 * Recommended to use iMove() methods to fill the command structure correctly.
sepp_nepp 9:efe9f76d6f76 272 * Branches to the moveXXXX() methods. For details see docs for those methods.
sepp_nepp 9:efe9f76d6f76 273 * Preset the speed using setSpeed().
sepp_nepp 9:efe9f76d6f76 274 * Warning: Collides with queued commands if called individually.
sepp_nepp 10:79509113310a 275 *
sepp_nepp 9:efe9f76d6f76 276 * @param[in] <*cmd> Pointer to type BotCommand, the prefilled command structure,
sepp_nepp 9:efe9f76d6f76 277 */
sepp_nepp 9:efe9f76d6f76 278 void iExeCommand(BotCommand *cmd);
sepp_nepp 9:efe9f76d6f76 279
sepp_nepp 9:efe9f76d6f76 280 /** High Level: spends all time with waits,
sepp_nepp 9:efe9f76d6f76 281 * returns only once wheelState = LRWHEELS_STOP,
sepp_nepp 9:efe9f76d6f76 282 * not recommended due its blocking behavior */
sepp_nepp 9:efe9f76d6f76 283 void iWaitEnd();
sepp_nepp 9:efe9f76d6f76 284
sepp_nepp 9:efe9f76d6f76 285 /** High Level: spends all time with waits,
sepp_nepp 9:efe9f76d6f76 286 * returns only once wheelState = LRWHEELS_STOP,
sepp_nepp 9:efe9f76d6f76 287 * but waits no more than max_wait_ms milli seconds.
sepp_nepp 9:efe9f76d6f76 288 * Not recommended due its blocking behavior */
sepp_nepp 9:efe9f76d6f76 289 void iWaitEnd(uint32_t max_wait_ms); // time-out
sepp_nepp 9:efe9f76d6f76 290
sepp_nepp 9:efe9f76d6f76 291 /** High level, immediate: Both wheels get stopped, and turned off
sepp_nepp 9:efe9f76d6f76 292 * updates the wheel state wheelsState, does not call the callback handler!
sepp_nepp 10:79509113310a 293 * It does not empty the queue.
sepp_nepp 10:79509113310a 294 * Adding new elements into the queue after calling iStop()
sepp_nepp 10:79509113310a 295 * Would continue using all commands still in the queue. */
sepp_nepp 9:efe9f76d6f76 296 void iStop();
garphil 0:a7fb03c9ea9d 297
sepp_nepp 7:3a793ddc3490 298 public:
sepp_nepp 5:efe80c5db389 299
sepp_nepp 9:efe9f76d6f76 300 /** Mid level, immediate: advance bot straight forward for a given distance,
sepp_nepp 9:efe9f76d6f76 301 * Preset the speed using setSpeed().
sepp_nepp 9:efe9f76d6f76 302 * Warning: Collides with queued commands.
sepp_nepp 9:efe9f76d6f76 303 */
sepp_nepp 7:3a793ddc3490 304 void moveForward(float dist_cm);
sepp_nepp 8:3b5b0a82b429 305
sepp_nepp 9:efe9f76d6f76 306 /** Mid level, immediate: reverse bot straight backwards for a given distance,
sepp_nepp 9:efe9f76d6f76 307 * Preset the speed using setSpeed().
sepp_nepp 9:efe9f76d6f76 308 * Warning: Collides with queued commands.
sepp_nepp 9:efe9f76d6f76 309 */
sepp_nepp 7:3a793ddc3490 310 void moveBackward(float dist_cm);
sepp_nepp 8:3b5b0a82b429 311
sepp_nepp 8:3b5b0a82b429 312 /* Mid level, immediate: turn bot forward right,
sepp_nepp 8:3b5b0a82b429 313 * around a radius twice the bot size ,
sepp_nepp 9:efe9f76d6f76 314 * Same as moveRight(turn_angle_deg, 0);
sepp_nepp 9:efe9f76d6f76 315 * Preset the speed using setSpeed().
sepp_nepp 9:efe9f76d6f76 316 * Warning: Collides with queued commands.
sepp_nepp 9:efe9f76d6f76 317 */
sepp_nepp 9:efe9f76d6f76 318 void moveRight(float turn_angle_deg);
sepp_nepp 8:3b5b0a82b429 319
sepp_nepp 8:3b5b0a82b429 320 /** Mid level, immediate: turn bot forward right,
sepp_nepp 8:3b5b0a82b429 321 * around a radius that is center_cm away from the right wheel,
sepp_nepp 9:efe9f76d6f76 322 * Preset the speed using setSpeed().
sepp_nepp 9:efe9f76d6f76 323 * Warning: Collides with queued commands.
sepp_nepp 9:efe9f76d6f76 324 */
sepp_nepp 9:efe9f76d6f76 325 void moveRight(float turn_angle_deg, float center_cm);
sepp_nepp 8:3b5b0a82b429 326
sepp_nepp 8:3b5b0a82b429 327 /** Mid level, immediate: turn bot forward left,
sepp_nepp 8:3b5b0a82b429 328 * around a radius twice the bot size,
sepp_nepp 9:efe9f76d6f76 329 * Same as moveLeft(turn_angle_deg, 0);
sepp_nepp 9:efe9f76d6f76 330 * Preset the speed using setSpeed().
sepp_nepp 9:efe9f76d6f76 331 * Warning: Collides with queued commands.
sepp_nepp 9:efe9f76d6f76 332 */
sepp_nepp 9:efe9f76d6f76 333 void moveLeft(float turn_angle_deg);
sepp_nepp 8:3b5b0a82b429 334
sepp_nepp 8:3b5b0a82b429 335 /** Mid level, immediate: turn bot forward left,
sepp_nepp 9:efe9f76d6f76 336 * around a radius that is center_cm away from the left wheel,
sepp_nepp 9:efe9f76d6f76 337 * Preset the speed using setSpeed().
sepp_nepp 9:efe9f76d6f76 338 * Warning: Collides with queued commands.
sepp_nepp 9:efe9f76d6f76 339 */
sepp_nepp 9:efe9f76d6f76 340 void moveLeft(float turn_angle_deg, float center_cm);
sepp_nepp 9:efe9f76d6f76 341
sepp_nepp 9:efe9f76d6f76 342 /* Mid level, immediate: turn bot backwards right,
sepp_nepp 9:efe9f76d6f76 343 * around a radius twice the bot size ,
sepp_nepp 10:79509113310a 344 * Same as moveBackRight(turn_angle_deg, 0);
sepp_nepp 9:efe9f76d6f76 345 * Preset the speed using setSpeed().
sepp_nepp 9:efe9f76d6f76 346 * Warning: Collides with queued commands.
sepp_nepp 9:efe9f76d6f76 347 */
sepp_nepp 10:79509113310a 348 void moveBackRight(float turn_angle_deg);
sepp_nepp 9:efe9f76d6f76 349
sepp_nepp 9:efe9f76d6f76 350 /** Mid level, immediate: turn bot backwards right,
sepp_nepp 9:efe9f76d6f76 351 * around a radius that is center_cm away from the right wheel,
sepp_nepp 9:efe9f76d6f76 352 * Preset the speed using setSpeed().
sepp_nepp 9:efe9f76d6f76 353 * Warning: Collides with queued commands.
sepp_nepp 9:efe9f76d6f76 354 */
sepp_nepp 10:79509113310a 355 void moveBackRight(float turn_angle_deg, float center_cm);
sepp_nepp 9:efe9f76d6f76 356
sepp_nepp 9:efe9f76d6f76 357 /** Mid level, immediate: turn bot backwards left,
sepp_nepp 9:efe9f76d6f76 358 * around a radius twice the bot size,
sepp_nepp 10:79509113310a 359 * Same as moveBackLeft(turn_angle_deg, 0);
sepp_nepp 9:efe9f76d6f76 360 * Preset the speed using setSpeed().
sepp_nepp 9:efe9f76d6f76 361 * Warning: Collides with queued commands.
sepp_nepp 9:efe9f76d6f76 362 */
sepp_nepp 10:79509113310a 363 void moveBackLeft(float turn_angle_deg);
sepp_nepp 9:efe9f76d6f76 364
sepp_nepp 9:efe9f76d6f76 365 /** Mid level, immediate: turn bot backwards left,
sepp_nepp 8:3b5b0a82b429 366 around a radius that is center_cm away from the left wheel,
sepp_nepp 9:efe9f76d6f76 367 * Preset the speed using setSpeed().
sepp_nepp 9:efe9f76d6f76 368 * Warning: Collides with queued commands.
sepp_nepp 9:efe9f76d6f76 369 */
sepp_nepp 10:79509113310a 370 void moveBackLeft(float turn_angle_deg, float center_cm);
sepp_nepp 9:efe9f76d6f76 371
sepp_nepp 8:3b5b0a82b429 372 /** Mid level, immediate: turn bot on its place for a given angle.
sepp_nepp 8:3b5b0a82b429 373 * positive angles turn right, negative angles turn left,
sepp_nepp 9:efe9f76d6f76 374 * Preset the speed using setSpeed().
sepp_nepp 9:efe9f76d6f76 375 * Warning: Collides with queued commands.
sepp_nepp 9:efe9f76d6f76 376 */
sepp_nepp 9:efe9f76d6f76 377 void moveRotate(float turn_angle_deg);
sepp_nepp 7:3a793ddc3490 378
sepp_nepp 6:4d8938b686a6 379 private:
sepp_nepp 7:3a793ddc3490 380
sepp_nepp 9:efe9f76d6f76 381 /** Low level, immediate: sets Both wheel speeds */
sepp_nepp 9:efe9f76d6f76 382 void wheelsSetSpeed(float mot_speed_cm_sec);
sepp_nepp 8:3b5b0a82b429 383
sepp_nepp 9:efe9f76d6f76 384 /** Callback when left wheel stops;
sepp_nepp 9:efe9f76d6f76 385 * updates the wheel state wheelsState */
sepp_nepp 9:efe9f76d6f76 386 void wheelLeftStoppedCB();
sepp_nepp 8:3b5b0a82b429 387
sepp_nepp 9:efe9f76d6f76 388 /** Callback when right wheel stops.
sepp_nepp 9:efe9f76d6f76 389 * updates the wheel state wheelsState */
sepp_nepp 9:efe9f76d6f76 390 void wheelRightStoppedCB();
sepp_nepp 8:3b5b0a82b429 391
sepp_nepp 9:efe9f76d6f76 392 /** Callback when all wheels have stopped.
sepp_nepp 9:efe9f76d6f76 393 * updates the wheel state wheelsState, switch off all Phases */
sepp_nepp 9:efe9f76d6f76 394 void wheelsAllStoppedCB();
sepp_nepp 7:3a793ddc3490 395
sepp_nepp 8:3b5b0a82b429 396 /** Callback function pointer:
sepp_nepp 9:efe9f76d6f76 397 * If set non-NULL it is called when All wheels Stopped()*/
sepp_nepp 7:3a793ddc3490 398 void (*extCallBack)(int status);
sepp_nepp 7:3a793ddc3490 399
sepp_nepp 9:efe9f76d6f76 400 /** Wheel status register:
sepp_nepp 9:efe9f76d6f76 401 * Remembers which of the wheels still run */
sepp_nepp 9:efe9f76d6f76 402 TWheelsState wheelsState;
sepp_nepp 7:3a793ddc3490 403
sepp_nepp 9:efe9f76d6f76 404 /** geometric properties of the bot */
sepp_nepp 9:efe9f76d6f76 405 float botDiameter;
sepp_nepp 9:efe9f76d6f76 406
sepp_nepp 8:3b5b0a82b429 407 /** Ratio of wheel diameter and bot diameter */
sepp_nepp 8:3b5b0a82b429 408 float ratio_wheel_bot;
sepp_nepp 9:efe9f76d6f76 409
sepp_nepp 8:3b5b0a82b429 410 /** last requested bot speed */
sepp_nepp 9:efe9f76d6f76 411 float botSpeed_cm_sec;
sepp_nepp 8:3b5b0a82b429 412
sepp_nepp 9:efe9f76d6f76 413 /** The two wheels, as pointers to their classes */
sepp_nepp 10:79509113310a 414 CreaMot *wheelLeft;
sepp_nepp 10:79509113310a 415 CreaMot *wheelRight;
garphil 0:a7fb03c9ea9d 416 };
garphil 0:a7fb03c9ea9d 417
sepp_nepp 9:efe9f76d6f76 418
garphil 0:a7fb03c9ea9d 419 #endif