Revision 2:45da48fab346, committed 2013-03-29

Comitter:

twighk

Date:

Fri Mar 29 20:09:21 2013 +0000

Parent:

1:8119211eae14

Child:

3:717de74f6ebd

Commit message:

Emergency Stop Button, Derive all actuator classes from the base class, and implement a virtual halt function that releases power from them

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Actuators/Actuator.cpp	Fri Mar 29 20:09:21 2013 +0000
@@ -0,0 +1,9 @@
+
+// Eurobot13 Actuator.cpp
+
+#include "Actuator.h"
+
+
+Actuator *Actuator::Head = NULL;
+
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Actuators/Actuator.h	Fri Mar 29 20:09:21 2013 +0000
@@ -0,0 +1,41 @@
+#ifndef __Actuator_h__
+#define __Actuator_h__
+// Eurobot13 Actuator.h
+
+#include "mbed.h"
+
+class Actuator {
+    private:
+    static Actuator *Head;
+    Actuator *next;
+    
+    public:
+    Actuator(){
+        next = NULL;
+        if (Head == NULL){
+            Head = this;
+        } else {
+            Actuator* nxt = Head;
+            for(;nxt->next != NULL; nxt = nxt->next);
+            nxt->next = this;
+        }
+    } 
+    
+    virtual void halt (void) = 0;
+    
+    static void haltandCatchFire(void){
+            //halt
+            for(Actuator* nxt = Head; nxt != NULL; nxt = nxt->next){
+                nxt->halt();
+            }
+            DigitalOut myled(LED1);
+            myled = 1;
+            
+            //catchFire
+            while(true);
+    }
+
+
+};
+
+#endif
\ No newline at end of file

--- a/Actuators/Arms/Arm.h	Fri Mar 29 16:28:56 2013 +0000
+++ b/Actuators/Arms/Arm.h	Fri Mar 29 20:09:21 2013 +0000
@@ -3,8 +3,9 @@
 
 #include "mbed.h"
 #include "Servo.h"
+#include "Actuators/Actuator.h" 
 
-class Arm : public Servo
+class Arm : public Servo, public Actuator
 {
 private:
     bool updirn;
@@ -27,7 +28,9 @@
         write(updirn?0:1);
     }
     
-    void relax() { // servo applies no force
+    virtual void halt() { // servo applies no force
+        DigitalOut myled(LED3);
+        myled = 1;
         _pwm = 0;
     }
 };

--- a/Actuators/MainMotors/MainMotor.h	Fri Mar 29 16:28:56 2013 +0000
+++ b/Actuators/MainMotors/MainMotor.h	Fri Mar 29 20:09:21 2013 +0000
@@ -2,8 +2,9 @@
 // Eurobot13 MainMotor.h
 
 #include "mbed.h"
+#include "Actuators/Actuator.h" 
 
-class MainMotor{
+class MainMotor: public Actuator{
     private:
     PwmOut PWM1;
     PwmOut PWM2;
@@ -25,5 +26,12 @@
             PWM2 = -power;    
         }
     }
+    
+    virtual void halt (void){
+        DigitalOut myled(LED2);
+        myled = 1;
+        PWM1 = 0;
+        PWM2 = 0;
+    }
 
 };
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Others/EmergencyStop/EmergencyStop.h	Fri Mar 29 20:09:21 2013 +0000
@@ -0,0 +1,24 @@
+
+// Eurobot13 EmergencyStop.h
+
+#include "mbed.h"
+#include "Actuators/Actuator.h" 
+
+class EmergencyStop : public InterruptIn{
+    private:
+    public:
+    EmergencyStop   ( PinName pin
+                    , void (*risefunction)(void) = Actuator::haltandCatchFire
+                    , void (*fallfunction)(void) = Actuator::haltandCatchFire
+                    ) 
+                    : InterruptIn(pin)
+                    {
+    if (risefunction != NULL){
+        rise(risefunction);
+        }
+        
+    if (fallfunction != NULL){
+        fall(fallfunction); 
+        }
+    }
+};
\ No newline at end of file

--- a/Sensors/Sonar/Sonar.h	Fri Mar 29 16:28:56 2013 +0000
+++ b/Sensors/Sonar/Sonar.h	Fri Mar 29 20:09:21 2013 +0000
@@ -0,0 +1,2 @@
+
+// Eurobot13 Sonar.h
\ No newline at end of file

--- a/main.cpp	Fri Mar 29 16:28:56 2013 +0000
+++ b/main.cpp	Fri Mar 29 20:09:21 2013 +0000
@@ -6,8 +6,9 @@
 #include "Actuators/MainMotors/MainMotor.h"
 #include "Sensors/Encoders/Encoder.h"
 #include "Actuators/Arms/Arm.h"
+#include "Others/EmergencyStop/EmergencyStop.h"
 
-PwmOut Led(LED1);
+
 
 void motortest();
 void encodertest();
@@ -15,15 +16,21 @@
 void motorencodetestline();
 void motorsandservostest();
 void armtest();
+void motortestline();
 
 int main() {
+/*  Setup Emergency stop for actuators,
+    Derive all actuators from the pure virtual actuator class
+*/  EmergencyStop EStop(p8); 
+    
     //motortest();
     //encodertest();
     //motorencodetest();
     //motorencodetestline();
     //motorsandservostest();
     armtest();
-}
+    //motortestline();
+    }
 
 void armtest(){
     Arm white(p26), black(p25, false,0.0005, 180);
@@ -61,7 +68,7 @@
         if (servoTimer.read() < 1){
             sTop.clockwise();
         } else if (servoTimer.read() < 4) {
-            sTop.relax();
+            sTop.halt();
         } else if (servoTimer.read() < 5) {
             sBottom.anticlockwise();
             //Led=1;
@@ -69,7 +76,7 @@
             sBottom.clockwise();
             //Led=0;
         } else if (servoTimer.read() < 7) {
-            sBottom.relax();
+            sBottom.halt();
         }else {
             sTop.anticlockwise();
         }
@@ -77,6 +84,13 @@
     }
 }
 
+void motortestline(){
+    MainMotor mleft(p24,p23), mright(p21,p22);
+    const float speed = 0.2;
+    mleft(speed); mright(speed);
+    while(true) wait(1);
+}
+
 void motorencodetestline(){
     Encoder Eleft(p27, p28), Eright(p30, p29);
     MainMotor mleft(p24,p23), mright(p21,p22);