Revision 6:9f698d1b2996, committed 2017-05-13

Comitter:

kolanery

Date:

Sat May 13 19:42:23 2017 +0000

Parent:

5:5d34a8feffe2

Commit message:

update test case

Changed in this revision

--- a/encoder.cpp	Tue May 09 01:21:47 2017 +0000
+++ b/encoder.cpp	Sat May 13 19:42:23 2017 +0000
@@ -1,21 +1,15 @@
+/*
 #include "encoder.h"
-/*
-Reset both encoders
-*/
+
+
 void resetEncoders(){
     leftEncoder.reset();
 }
 
-/*
-Returns the average number of pulses across both encoders since last reset. Unit is encoder pulses; intended for straight driving only.
-*/
 int getEncoderDistance(){
     return (leftEncoder) >> 1;
 }
 
-/*
- * Represents a quadrature motor encoder. Modified from mbed QEI 
- */
 Encoder::Encoder(PinName channelA, PinName channelB) : 
     channelA_(channelA), 
     channelB_(channelB){
@@ -58,4 +52,4 @@
 //Resets the encoder
 void Encoder::reset(void) {
     pulses = 0;
-}
+}*/

--- a/encoder.h	Tue May 09 01:21:47 2017 +0000
+++ b/encoder.h	Sat May 13 19:42:23 2017 +0000
@@ -1,15 +1,11 @@
+/*
 #ifndef ENCODER_H
 #define ENCODER_H
 #include "mbed.h"
 
-/*
-* Reset both encoders
-*/
+
 void resetEncoders();
 
-/*
-Returns the average number of pulses across both encoders since last reset. Unit is encoder pulses; intended for straight driving only.
-*/
 int getEncoderDistance();
 
 
@@ -35,7 +31,7 @@
     
     void encode(void);
 };
-
+*/
 
 extern Encoder leftEncoder;
 

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/left_motor.cpp	Sat May 13 19:42:23 2017 +0000
@@ -0,0 +1,32 @@
+#include "left_motor.h"
+const int ONE_MILLISECOND = 0.001;
+PwmOut motor_left_sig(PB_7);
+DigitalOut dir_left(PB_6);
+
+
+LeftMotor::LeftMotor() {
+    curr_speed = 0;
+    dir_left = 1;
+}
+
+//Sets motor speed
+void LeftMotor::speed(float speed) {
+    curr_speed = speed;
+    motor_left_sig.write(speed);
+}
+
+void LeftMotor::inv_dir(bool dir){
+    if(dir == 1)
+        dir_left = 1;
+    else
+        dir_left = 0;
+}
+
+void LeftMotor::set_period(float period) {
+    motor_left_sig.period(period);
+}
+
+//Sets motor speed to 0
+void LeftMotor::stop() {
+    speed(0);
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/left_motor.h	Sat May 13 19:42:23 2017 +0000
@@ -0,0 +1,31 @@
+#ifndef LEFT_MOTOR_H
+#define LEFT_MOTOR_H
+#include "mbed.h"
+class LeftMotor {
+public:
+    LeftMotor();
+    
+    // Define speed as float value between -1.0 and 1.0
+    void speed(float speed);
+    
+    void inv_dir(bool dir);
+    // Stop the motor without breaking mechanism
+    void stop(void);
+    
+    void set_period(float period);
+    
+    // Override operator for setting motor speed
+    void operator = (float speed) {
+        LeftMotor::speed(speed);
+    }
+    
+    // Getter method to retrieve the current speed
+    float read(){
+        return curr_speed;
+    }
+    
+private:
+    float curr_speed;
+};
+
+#endif
\ No newline at end of file

--- a/main.cpp	Tue May 09 01:21:47 2017 +0000
+++ b/main.cpp	Sat May 13 19:42:23 2017 +0000
@@ -1,100 +1,193 @@
-/**
-* This is simple program to test usart with IR sensors.
-*/
 #include "mbed.h"
-#include "IRSensor.h"
-#include "encoder.h"
-//#include "motor.h"
- Serial serial (PA_9, PA_10);
+//#include "IRSensor.h"
+//#include "encoder.h"
+#include "left_motor.h"
+
+/*
+Serial serial (PA_9, PA_10);
+
 IRSensor testIR_RIGHT(PB_0, PA_4); //emmiter and receiver right most sensor
 IRSensor testIR_LEFT(PA_8, PC_5); //emmiter and receiver left most sensor
 IRSensor testIR_TOP1(PC_6, PA_7); //emmiter and receiver TOP LEFT sensor
 IRSensor testIR_TOP2(PB_10, PA_6); //emmiter and receiver TOP RIGHT sensor
 IRSensor testIR_DIAG_LEFT(PC_7, PC_4); //emmiter and receiver DIAG LEFT sensor
 IRSensor testIR_DIAG_RIGHT(PB_1, PA_5); //emmiter and receiver DIAG RIGHTsensor
- DigitalOut testLed(PB_12);
- DigitalOut testLed2(PB_13);
- DigitalOut testLed3(PB_14);
- DigitalOut testLed4(PB_15);
- AnalogIn Ain(PA_3);
- AnalogIn gyro(PC_1);
- DigitalOut gyro_sleep(PC_2);
+*/
+
+
+DigitalOut testLed(PB_12);
+DigitalOut testLed2(PB_13);
+DigitalOut testLed3(PB_14);
+DigitalOut testLed4(PB_15);
+
+/*
+AnalogIn Ain(PA_3);
+AnalogIn gyro(PC_1);
+DigitalOut gyro_sleep(PC_2);
+
  
+*/
+
 //Motor leftMotor(PB_7, PB_6);
 //Motor rightMotor(PB_9, PB_8);
+/*
+
+
+
+*/
+
 // pwm
+/*
 PwmOut motor_pwm_left_sig(PB_7);
 DigitalOut dir_left(PB_6);
 //// dir
 PwmOut motor_pwm_right_sig(PB_9);
 DigitalOut dir_right(PB_8);
-
-
+*/
+/*
 
 Encoder leftEncoder(PC_9, PC_8);
  
- int main ()
- {
-     serial.printf ("Start Program\n");
-     //leftMotor = 0.1f;
-     
-
-//         motor_pwm_left_sig.period(0.001f); 
-//         motor_pwm_left_sig.write(0.2f);
-//         motor_pwm_right_sig.period(0.001f); 
-//         motor_pwm_right_sig.write(0.6f);
-//         dir_left = 0;
-//         dir_right = 1;
-//         
-//         wait(7);
-//         motor_pwm_right_sig = 0;
-//         dir_right = 0;
-//         motor_pwm_left_sig = 0;
-         
-
-     //double angle 
-     
-     while (1)
-     {
-        testLed2 = 1; 
-        testLed3 = 1;
-         wait (0.2);
-         testLed2 = 0;
-         testLed3 = 0; 
-         wait (0.2); 
-         
-//         serial.printf("Left sensor: %f\r\n", testIR_LEFT.readIR());
-//         serial.printf("Left Diagnal %f\r\n", testIR_DIAG_LEFT.readIR());
-         serial.printf("TOP LEFT %f\r\n", testIR_TOP1.readIR());
-         serial.printf("TOP RIGHT %f\r\n", testIR_TOP2.readIR());
-//         serial.printf("Right Diagnal %f\r\n", testIR_DIAG_RIGHT.readIR());
-//         serial.printf("Right sensor: %f\r\n", testIR_RIGHT.readIR());
-         wait(1);
-         //______________TEST GYRO
-        double offset = .4451;
-         gyro_sleep = 1;
-        double gyro_value = (gyro.read() - offset) * .67 / offset * 600;  // Offset of .4455 measured experimentally
-     //   angle += gyro_value * .01;
-        wait(.01);
-       
-        serial.printf("Gyro value: %f\r\n", gyro_value);
-         
-         
-         //______________
-         
-         
-         //serial.printf("voltage value is: %3.3f%%\r\n", Ain.read()*100.0f);
-         //serial.printf("normalized: 0x%04X \r\n", Ain.read_u16());
-
-         if(Ain.read() < 0.67f){
+ 
+void battery_helper() {
+    if(Ain.read() < 0.67f){
              testLed = 1;
              testLed2 = 1;
              testLed3 = 1;
              testLed4 = 1;
              serial.printf("voltage is in danger area, UNPLUG\r\n");
-         }
+    }
+} 
+*/
+
+/*
+void toggle() {
+    testLed2 = 1; 
+    testLed3 = 1;
+    
+    leftMotor.speed(0.2f);
+    rightMotor.speed(0.2f);
+    
+    
+    motor_pwm_left_sig.period(0.001f); 
+    motor_pwm_left_sig.write(0.2f);
+    motor_pwm_right_sig.period(0.001f); 
+    motor_pwm_right_sig.write(0.6f);
+    
+    wait(5);
+    motor_pwm_right_sig = 0;
+    motor_pwm_left_sig = 0;
+    
+ 
+} */
+ 
+int main ()
+{
+    //serial.printf ("Start Program\n");
+    testLed2 = 1; 
+    testLed3 = 1;
+    
+    LeftMotor * motor = new LeftMotor();
+    motor->inv_dir(0);
+    motor->speed(0.9f);
+    
+    
+    /*
+    
+    PwmOut motor_pwm_left_sig(PB_7);
+    DigitalOut dir_left(PB_6);
+    //// dir
+    PwmOut motor_pwm_right_sig(PB_9);
+    DigitalOut dir_right(PB_8);
+    
+    */
+    
+    /*
+    Motor * leftMotor = new Motor(PB_7, PB_6);
+    Motor * rightMotor = new Motor(PB_9, PB_8);
+    
+    leftMotor->speed(0.2f);
+    rightMotor->speed(0.2f);
+    */
+    
+    //leftMotor = 0.2f;
+    //rightMotor = 0.2f;
+        
+    /* 
+     wait(3);
+     toggle();
+     
+     wait(3);
+     toggle();
+     
+     wait(3);
+     toggle();
+     
+     wait(3);
+     toggle();
+     */
+     
+     //double angle 
+     /*
+     while (1)
+     {
+        battery_helper();
+        
+        testLed2 = 1; 
+        testLed3 = 1;
+         
+        // wait (0.2);
+        // testLed2 = 0;
+        // testLed3 = 0; 
+         //wait (0.2); 
+         
+
+         motor_pwm_left_sig.period(0.001f); 
+         motor_pwm_left_sig.write(0.2f);
+         motor_pwm_right_sig.period(0.001f); 
+         motor_pwm_right_sig.write(0.6f);
+         dir_left = 0;
+         dir_right = 1;
+         
+         wait(2);
+         
+         motor_pwm_right_sig = 0;
+         dir_right = 0;
+         motor_pwm_left_sig = 0;
+         
        
          int dist = getEncoderDistance();
          //serial.printf("Encoder %d \r\n", getEncoderDistance());        
-     }
- } 
\ No newline at end of file
+     } */
+ }
+ 
+
+ /*
+ void motor_tester() {
+
+ } 
+
+ void sensor_tester() {
+     //         serial.printf("Left sensor: %f\r\n", testIR_LEFT.readIR());
+    //         serial.printf("Left Diagnal %f\r\n", testIR_DIAG_LEFT.readIR());
+         serial.printf("TOP LEFT %f\r\n", testIR_TOP1.readIR());
+         serial.printf("TOP RIGHT %f\r\n", testIR_TOP2.readIR());
+    //         serial.printf("Right Diagnal %f\r\n", testIR_DIAG_RIGHT.readIR());
+    //         serial.printf("Right sensor: %f\r\n", testIR_RIGHT.readIR());
+         wait(1);
+         
+ }
+ 
+ void voltage_tester() {
+    serial.printf("voltage value is: %3.3f%%\r\n", Ain.read()*100.0f);
+    serial.printf("normalized: 0x%04X \r\n", Ain.read_u16());
+ } 
+ 
+ void gyro_tester() {
+    double offset = .4451;
+    gyro_sleep = 1;
+    double gyro_value = (gyro.read() - offset) * .67 / offset * 600;  // Offset of .4455 measured experimentally
+    angle += gyro_value * .01;
+    wait(.01);
+    serial.printf("Gyro value: %f\r\n", gyro_value);
+ } */
\ No newline at end of file

--- a/motor.cpp	Tue May 09 01:21:47 2017 +0000
+++ b/motor.cpp	Sat May 13 19:42:23 2017 +0000
@@ -1,31 +1,28 @@
+/*
 #include "motor.h"
-const int FORWARD = 1;
-const int BACKWARD = 0;
+#include "mbed.h"
 const int ONE_MILLISECOND = 0.001;
 
-Motor::Motor(PinName _pwm_pin, PinName _dir):
+Motor::Motor(PinName curr_pwm_pin, PinName curr_dir):
         pwm_pin(_pwm_pin), dir(_dir){
+    pwm_pin(curr_pwm_pin);
+    dir(curr_dir);
+    
     pwm_pin.period(ONE_MILLISECOND);
-    pwm_pin = 0; 
+    pwm_pin.write(0.1f); 
     dir = 0;
     curr_speed = 0;
 }
 
 //Sets motor speed
 void Motor::speed(float speed) {
-    if (speed < 0.0f){ //Backwards
-        if (speed < -1.0f){
-            speed = -1.0f;
-        }
-        dir = FORWARD;
-        pwm_pin = curr_speed = speed + 1.0f; // Inverts it so 1 is off and 0 is on
-    } else { //Forwards   
-        dir = BACKWARD;
-        pwm_pin = curr_speed = speed;
-    }
+    curr_speed = speed;
+    pwm_pin.write(speed);
 }
 
 //Sets motor speed to 0
 void Motor::stop() {
     speed(0);
-}
\ No newline at end of file
+}
+
+*/
\ No newline at end of file

--- a/motor.h	Tue May 09 01:21:47 2017 +0000
+++ b/motor.h	Sat May 13 19:42:23 2017 +0000
@@ -23,13 +23,9 @@
     }
     
 private:
-    volatile float curr_speed;
+    float curr_speed;
     PwmOut pwm_pin;
     DigitalOut dir;
 };
 
-// Declaring as extern to enable global scope
-extern Motor leftMotor;
-extern Motor rightMotor;
-
 #endif
\ No newline at end of file