Diff: robot_logic.cpp

Revision:

0:c0ae66a0ec7a

Child:

2:356bb8d99326

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/robot_logic.cpp	Mon Feb 23 12:24:31 2015 +0000
@@ -0,0 +1,98 @@
+#include "robot_logic.h"
+
+m3pi m3pi;
+
+#define MAX_SPEED 1.0
+#define MAX_TURN_SPEED 1.0
+
+/*
+ * Drive the robot forward or backward.
+ *
+ * @speed The speed percentage with which to drive forward or backward.
+ * Can range from -100 (full throttle backward) to +100 (full throttle forward).
+ */
+void drive(int speed) {
+    if (speed > 100 || speed < -100) {
+        printf("[ERROR] Drive speed out of range");
+        return;
+    }
+
+    if (speed == 0) {
+        m3pi.stop();
+    } else if (speed > 0) {
+        m3pi.forward(MAX_SPEED*speed/100.0);
+    } else if (speed < 0) {
+        m3pi.backward(MAX_SPEED*-speed/100.0);
+    }
+}
+
+/*
+ * Turn the robot left or right.
+ *
+ * @speed The speed percentage with which to turn the robot.
+ * Can range from -100 (full throttle left) to +100 (full throttle right).
+ */
+void turn(int turnspeed) {
+    if (turnspeed > 100 || turnspeed < -100) {
+        printf("[ERROR] Turn speed out of range");
+        return;
+    }
+
+    if (turnspeed == 0) {
+        m3pi.stop();
+    } else if (turnspeed > 0) {
+        m3pi.right(MAX_TURN_SPEED*turnspeed/100.0);
+    } else if (turnspeed < 0) {
+        m3pi.left(MAX_TURN_SPEED*-turnspeed/100.0);
+    }
+}
+
+/*
+ * Stop the robot.
+ */
+void stop(void) {
+    m3pi.stop();
+}
+
+/*
+ * Read the value from the line sensor. The returned value indicates the
+ * position of the line. The value ranges from -100 to +100 where -100 is
+ * fully left, +100 is fully right and 0 means the line is detected in the middle.
+ *
+ * @return The position of the line with a range of -100 to +100.
+ */
+int line_sensor(void) {
+    // Get position of line [-1.0, +1.0]
+    float pos = m3pi.line_position();
+    return ((int)(pos * 100));
+}
+
+
+
+// Show drive speed and sensor data
+void showStats(void) {
+    m3pi.cls();          // Clear display
+
+    // Display speed
+    m3pi.locate(0, 0);
+        // x   The horizontal position, from 0 to 7
+        // y   The vertical position, from 0 to 1
+    m3pi.printf("FOR 100%%");
+
+    // Display line
+    m3pi.locate(0, 1);
+    int line = line_sensor();
+    m3pi.printf("LINE %d", line);
+}
+
+
+
+
+/*
+ * Wait for an approximate number of milliseconds.
+ *
+ * @milliseconds The number of milliseconds to wait.
+ */
+void doWait(int milliseconds) {
+    wait_ms(milliseconds);
+}
\ No newline at end of file