Shigeo Kinoshita / Mbed 2 deprecated wallbot_lineTrace

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Dependencies:   mbed wallbot_lineTrace

Dependents:   wallbot_lineTrace

Files at this revision

API Documentation at this revision

Revision 2:ac78fd710c2c, committed 2014-12-16

Comitter:
sig9867
Date:
Tue Dec 16 13:06:29 2014 +0000
Parent:
1:56f8789e6779
Commit message:
Update and bug-fix

Changed in this revision

lineTrace.cpp Show annotated file Show diff for this revision Revisions of this file
motor.cpp Show annotated file Show diff for this revision Revisions of this file
motor.h Show annotated file Show diff for this revision Revisions of this file
wallbot_lineTrace.lib Show annotated file Show diff for this revision Revisions of this file 
--- a/lineTrace.cpp	Mon Dec 15 14:40:23 2014 +0000
+++ b/lineTrace.cpp	Tue Dec 16 13:06:29 2014 +0000
@@ -8,8 +8,8 @@
 //-------------------------------------------------------//
 void LineTrace::Servo()
 {
-    const float Kp = 2.0;
-    const float Kd = -0.7;
+    const float Kp = 3.0;
+    const float Kd = -2.0;
 
     const int N = 10;
    
@@ -18,44 +18,18 @@
     differential = current - integral;
     
     if (!s.Available()) {
-        L.Speed = 0.0;
-        R.Speed = 0.0;
+        L.Move(0.0);
+        R.Move(0.0);
         return;
     }        
     float cv = Kp * current + Kd * differential;
-    //////////////////////////
     if (cv < 0.0) {
-        R.Speed = 1.0;
-        R.Move(FORWARD);
-    }
-    else {
-        L.Speed = 1.0;
-        L.Move(FORWARD);
-    }
-    ///////////////////////////
-    if (cv < -2.0) {
-        L.Speed = 1.0;
-        L.Move(REVERSE);
-    } else if (cv < -1.0) { // -2.0 ... -1.0
-        L.Speed = 2.0 + cv;
-        L.Move(REVERSE);
+        R.Move(1.0);
+        L.Move(1.0 + cv);
+    } else {
+        L.Move(1.0);
+        R.Move(1.0 - cv);
     }
-    else if (cv < 0.0) {    // -1.0 ... 0.0
-        L.Speed =  1.0 + cv;
-        L.Move(FORWARD);
-    }
-    else if (cv < 1.0) {    // 00 ... 1.0
-        R.Speed = 1.0 - cv;
-        R.Move(FORWARD);
-    }
-    else if (cv < 2.0) {    // 1.0 ... 2.0
-        R.Speed = 2.0 - cv;
-        R.Move(REVERSE);
-    }
-    else {
-        R.Speed = 1.0;
-        R.Move(REVERSE);
-    }
-}
+ }
                 
         
\ No newline at end of file

--- a/motor.cpp	Mon Dec 15 14:40:23 2014 +0000
+++ b/motor.cpp	Tue Dec 16 13:06:29 2014 +0000
@@ -3,23 +3,24 @@
 
 
 Motor::Motor(PinName pwm, PinName in1, PinName in2)
-    : FIn1(in1), FIn2(in2), Speed(pwm) 
+    : FIn1(in1), FIn2(in2), FSpeed(pwm) 
 {
+        FSpeed = 0.0;
 }
 
-void Motor::Move(TDirection dir)
+void Motor::Move(float speed)
 {
-    if (dir == FORWARD) {
+    if (speed > 0) {
         FIn1 = 1;
         FIn2 = 0;
+        FSpeed = speed;
     }
-    else if (dir == REVERSE) {
+    else {
         FIn1 = 0;
         FIn2 = 1;
-    }
-    else {        
-        FIn1 = 1;
-        FIn2 = 1;
+        FSpeed = -speed;
     }
 }
+ 
+   
       
\ No newline at end of file

--- a/motor.h	Mon Dec 15 14:40:23 2014 +0000
+++ b/motor.h	Tue Dec 16 13:06:29 2014 +0000
@@ -7,10 +7,10 @@
 
 class Motor {
     DigitalOut  FIn1, FIn2;
-  public:
+    PwmOut      FSpeed;
+public:
     Motor(PinName pwm, PinName in1, PinName in2);
-    PwmOut  Speed;
-    void    Move(TDirection dir);
-}; 
+    void    Move(float spd);
+};  
     
 #endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/wallbot_lineTrace.lib	Tue Dec 16 13:06:29 2014 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/users/sig9867/code/wallbot_lineTrace/#56f8789e6779