Renishaw / Mbed 2 deprecated RenBuggyServoNew

Updated version of RenBuggy Servo that can accept instructions based on time or distance.

Dependencies:   PinDetect mbed

Fork of RenBuggyServo by Renishaw

Car.cpp@3:01bc89d7ae8e, 2014-03-13 (annotated)

Committer:
Markatron
Date:
Thu Mar 13 07:31:10 2014 +0000
Revision:
3:01bc89d7ae8e
Parent:
2:287a808baad7
Child:
4:aac581bec332
Finished adding functionality for the use of an encoder.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Markatron 0:d388aed56112 1 /*******************************************************************************
Markatron 1:3e1290de9c8d 2 * RenBED Car used to drive RenBuggy with servo, motor and encoder(optional) *
Markatron 0:d388aed56112 3 * Copyright (c) 2014 Mark Jones *
Markatron 0:d388aed56112 4 * *
Markatron 0:d388aed56112 5 * Permission is hereby granted, free of charge, to any person obtaining a copy *
Markatron 0:d388aed56112 6 * of this software and associated documentation files (the "Software"), to deal*
Markatron 0:d388aed56112 7 * in the Software without restriction, including without limitation the rights *
Markatron 0:d388aed56112 8 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell *
Markatron 0:d388aed56112 9 * copies of the Software, and to permit persons to whom the Software is *
Markatron 0:d388aed56112 10 * furnished to do so, subject to the following conditions: *
Markatron 0:d388aed56112 11 * *
Markatron 0:d388aed56112 12 * The above copyright notice and this permission notice shall be included in *
Markatron 0:d388aed56112 13 * all copies or substantial portions of the Software. *
Markatron 0:d388aed56112 14 * *
Markatron 0:d388aed56112 15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR *
Markatron 0:d388aed56112 16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, *
Markatron 0:d388aed56112 17 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE *
Markatron 0:d388aed56112 18 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER *
Markatron 0:d388aed56112 19 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,*
Markatron 0:d388aed56112 20 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN *
Markatron 0:d388aed56112 21 * THE SOFTWARE. *
Markatron 0:d388aed56112 22 * *
Markatron 0:d388aed56112 23 * Car.cpp *
Markatron 0:d388aed56112 24 * *
Markatron 0:d388aed56112 25 * V1.0 05/03/2014 Mark Jones *
Markatron 0:d388aed56112 26 *******************************************************************************/
Markatron 0:d388aed56112 27
Markatron 0:d388aed56112 28 #ifndef CAR_C
Markatron 0:d388aed56112 29 #define CAR_C
Markatron 0:d388aed56112 30
Markatron 0:d388aed56112 31 #include "Car.h"
Markatron 0:d388aed56112 32 #include "mbed.h"
Markatron 0:d388aed56112 33
Markatron 0:d388aed56112 34 Car::Car(PinName servoPin, PinName motorPin)
Markatron 0:d388aed56112 35 : m_servo(servoPin), m_motor(motorPin) {
Markatron 1:3e1290de9c8d 36 m_speed = 15000;
Markatron 3:01bc89d7ae8e 37 m_countsPerRevolution = 0;
Markatron 3:01bc89d7ae8e 38 m_wheelCircumference = 0;
Markatron 1:3e1290de9c8d 39 }
Markatron 1:3e1290de9c8d 40
Markatron 3:01bc89d7ae8e 41 Car::Car(PinName servoPin, PinName motorPin, int countsPerRevolution, float wheelCircumference, PinName sensorPin)
Markatron 3:01bc89d7ae8e 42 : m_servo(servoPin), m_motor(motorPin), m_sensor(sensorPin) {
Markatron 1:3e1290de9c8d 43 configureEncoder(countsPerRevolution, wheelCircumference);
Markatron 3:01bc89d7ae8e 44
Markatron 1:3e1290de9c8d 45 m_speed = 15000;
Markatron 3:01bc89d7ae8e 46 setDirection(0);
Markatron 3:01bc89d7ae8e 47
Markatron 3:01bc89d7ae8e 48 m_encoderCount = 0;
Markatron 3:01bc89d7ae8e 49 m_sensor.setSampleFrequency(1000);
Markatron 3:01bc89d7ae8e 50 m_sensor.setSamplesTillHeld(5);
Markatron 3:01bc89d7ae8e 51
Markatron 3:01bc89d7ae8e 52 Car* basePointer = dynamic_cast<Car*>(this);
Markatron 3:01bc89d7ae8e 53 m_sensor.attach_deasserted_held(basePointer, &Car::updateEncoderCount);
Markatron 0:d388aed56112 54 }
Markatron 0:d388aed56112 55
Markatron 0:d388aed56112 56 Car::~Car() {
Markatron 0:d388aed56112 57 }
Markatron 0:d388aed56112 58
Markatron 1:3e1290de9c8d 59 void Car::setSpeed(int speed_us) {
Markatron 1:3e1290de9c8d 60 m_speed = speed_us;
Markatron 1:3e1290de9c8d 61 }
Markatron 1:3e1290de9c8d 62
Markatron 3:01bc89d7ae8e 63 void Car::updateEncoderCount() {
Markatron 3:01bc89d7ae8e 64 m_encoderCount++;
Markatron 3:01bc89d7ae8e 65 }
Markatron 3:01bc89d7ae8e 66
Markatron 0:d388aed56112 67 void Car::forwards(float distance) {
Markatron 1:3e1290de9c8d 68
Markatron 1:3e1290de9c8d 69 int countsForward = (int)(distance * (m_countsPerRevolution / m_wheelCircumference));
Markatron 0:d388aed56112 70
Markatron 3:01bc89d7ae8e 71 m_encoderCount = 0;
Markatron 3:01bc89d7ae8e 72 bool isMoving = true;
Markatron 3:01bc89d7ae8e 73 m_motor.pulsewidth_us(m_speed);
Markatron 0:d388aed56112 74
Markatron 3:01bc89d7ae8e 75 while(isMoving) {
Markatron 3:01bc89d7ae8e 76 wait(0.2); // <<-- for some unknown reason, this requires a delay to work :-S
Markatron 3:01bc89d7ae8e 77 if(countsForward < m_encoderCount)
Markatron 3:01bc89d7ae8e 78 {
Markatron 3:01bc89d7ae8e 79 isMoving = false;
Markatron 3:01bc89d7ae8e 80 }
Markatron 3:01bc89d7ae8e 81 }
Markatron 3:01bc89d7ae8e 82 // When it's finished, stop the buggy.
Markatron 3:01bc89d7ae8e 83 stop();
Markatron 3:01bc89d7ae8e 84
Markatron 3:01bc89d7ae8e 85 return;
Markatron 0:d388aed56112 86 }
Markatron 0:d388aed56112 87
Markatron 0:d388aed56112 88 void Car::forwards() {
Markatron 1:3e1290de9c8d 89 m_motor.pulsewidth_us(m_speed);
Markatron 0:d388aed56112 90 }
Markatron 0:d388aed56112 91
Markatron 0:d388aed56112 92 void Car::stop() {
Markatron 0:d388aed56112 93 m_motor.pulsewidth_us(0);
Markatron 0:d388aed56112 94 }
Markatron 0:d388aed56112 95
Markatron 0:d388aed56112 96 void Car::setDirection(int degrees) {
Markatron 0:d388aed56112 97 float angleOffset = m_servoRange * (m_servoDegrees / degrees);
Markatron 0:d388aed56112 98 m_servo.pulsewidth_us(1500 + angleOffset);
Markatron 0:d388aed56112 99 }
Markatron 0:d388aed56112 100
Markatron 0:d388aed56112 101 void Car::configureServo_us(int pulsewidth_us, int period_us, int range, float degrees) {
Markatron 0:d388aed56112 102 m_servo.pulsewidth_us(pulsewidth_us);
Markatron 0:d388aed56112 103 m_servo.period_us(period_us);
Markatron 0:d388aed56112 104 m_servoRange = range;
Markatron 0:d388aed56112 105 m_servoDegrees = degrees;
Markatron 0:d388aed56112 106 }
Markatron 0:d388aed56112 107
Markatron 0:d388aed56112 108 void Car::configureServo_ms(int pulsewidth_ms, int period_ms, int range, float degrees) {
Markatron 0:d388aed56112 109 m_servo.pulsewidth_ms(pulsewidth_ms);
Markatron 0:d388aed56112 110 m_servo.period_ms(period_ms);
Markatron 0:d388aed56112 111 m_servoRange = range;
Markatron 0:d388aed56112 112 m_servoDegrees = degrees;
Markatron 0:d388aed56112 113 }
Markatron 0:d388aed56112 114
Markatron 0:d388aed56112 115 void Car::configureMotor_us(int pulsewidth_us, int period_us) {
Markatron 0:d388aed56112 116 m_motor.pulsewidth_us(pulsewidth_us);
Markatron 0:d388aed56112 117 m_motor.period_us(period_us);
Markatron 0:d388aed56112 118 }
Markatron 0:d388aed56112 119
Markatron 0:d388aed56112 120 void Car::configureMotor_ms(int pulsewidth_ms, int period_ms) {
Markatron 0:d388aed56112 121 m_motor.pulsewidth_ms(pulsewidth_ms);
Markatron 0:d388aed56112 122 m_motor.period_ms(period_ms);
Markatron 0:d388aed56112 123 }
Markatron 0:d388aed56112 124
Markatron 1:3e1290de9c8d 125 void Car::configureEncoder(int countsPerRevolution, float wheelCircumference) {
Markatron 1:3e1290de9c8d 126 m_countsPerRevolution = countsPerRevolution;
Markatron 3:01bc89d7ae8e 127 m_wheelCircumference = wheelCircumference;
Markatron 1:3e1290de9c8d 128 }
Markatron 1:3e1290de9c8d 129
Markatron 0:d388aed56112 130 #endif // CAR_C