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.h@1:3e1290de9c8d, 2014-03-10 (annotated)

Committer:
Markatron
Date:
Mon Mar 10 10:15:22 2014 +0000
Revision:
1:3e1290de9c8d
Parent:
0:d388aed56112
Child:
2:287a808baad7
RenBuggy Servo updated library

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Markatron 0:d388aed56112 1 /*******************************************************************************
Markatron 0:d388aed56112 2 * RenBED Car used to drive RenBuggy with servo and 1 motor *
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.h *
Markatron 0:d388aed56112 24 * *
Markatron 0:d388aed56112 25 * V1. 05/03/2014 Mark Jones *
Markatron 0:d388aed56112 26 *******************************************************************************/
Markatron 0:d388aed56112 27
Markatron 0:d388aed56112 28 #ifndef CAR_H
Markatron 0:d388aed56112 29 #define CAR_H
Markatron 0:d388aed56112 30
Markatron 0:d388aed56112 31 #include "mbed.h"
Markatron 0:d388aed56112 32
Markatron 0:d388aed56112 33 class Car {
Markatron 0:d388aed56112 34 private:
Markatron 1:3e1290de9c8d 35
Markatron 0:d388aed56112 36 PwmOut m_servo;
Markatron 0:d388aed56112 37 PwmOut m_motor;
Markatron 1:3e1290de9c8d 38
Markatron 1:3e1290de9c8d 39 int m_speed;
Markatron 1:3e1290de9c8d 40
Markatron 0:d388aed56112 41 int m_servoRange; // Pulsewidth range to full left/right from centre (1.5ms)
Markatron 0:d388aed56112 42 float m_servoDegrees; // Angle to full right/left turn from centre (0).
Markatron 1:3e1290de9c8d 43
Markatron 1:3e1290de9c8d 44 float m_wheelCircumference; // The circumference of the wheel with stripes.
Markatron 1:3e1290de9c8d 45 int m_countsPerRevolution; // The number of stripes on the wheel.
Markatron 1:3e1290de9c8d 46 //InterruptIn m_stripeInterrupt;
Markatron 1:3e1290de9c8d 47
Markatron 1:3e1290de9c8d 48 //float distanceToTimeConverter(float distance);
Markatron 1:3e1290de9c8d 49
Markatron 0:d388aed56112 50 public:
Markatron 1:3e1290de9c8d 51
Markatron 0:d388aed56112 52 Car(PinName servoPin, PinName motorPin);
Markatron 1:3e1290de9c8d 53 Car(PinName servoPin, PinName motorPin, int countsPerRevolution, float wheelCircumference);
Markatron 0:d388aed56112 54 ~Car();
Markatron 0:d388aed56112 55
Markatron 1:3e1290de9c8d 56 void setSpeed(int speed_us);
Markatron 0:d388aed56112 57 void forwards(float distance);
Markatron 0:d388aed56112 58 void forwards();
Markatron 0:d388aed56112 59 void stop();
Markatron 0:d388aed56112 60 void setDirection(int degrees);
Markatron 0:d388aed56112 61
Markatron 0:d388aed56112 62 void configureServo_us(int pulsewidth_us, int period_us, int range, float degrees);
Markatron 0:d388aed56112 63 void configureServo_ms(int pulsewidth_ms, int period_ms, int range, float degrees);
Markatron 0:d388aed56112 64
Markatron 0:d388aed56112 65 void configureMotor_us(int pulsewidth_us, int period_us);
Markatron 0:d388aed56112 66 void configureMotor_ms(int pulsewidth_ms, int period_ms);
Markatron 1:3e1290de9c8d 67
Markatron 1:3e1290de9c8d 68 void configureEncoder(int countsPerRevolution, float wheelCircumference);
Markatron 0:d388aed56112 69 };
Markatron 0:d388aed56112 70
Markatron 0:d388aed56112 71 #endif // CAR_H