Renishaw
Library for use with the RenBuggy with 2 wheels that travels for an amount of time specified by the user.
Dependencies: mbed
Dependents: RenBuggy_Timed_Programme RenBuggy_Figure_Of_Eight
Revision 0:a413eedb9896, committed 2014-03-31
- Comitter:
- Markatron
- Date:
- Mon Mar 31 10:18:38 2014 +0000
- Commit message:
- Created a library for use with the RenBuggy with 2 wheels that travels for an amount of time specified by the user.
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/RenBuggyTimed.cpp Mon Mar 31 10:18:38 2014 +0000
@@ -0,0 +1,70 @@
+/*******************************************************************************
+* Used to drive RenBuggy with 2 wheels for a specified amount of time. *
+* Copyright (c) 2014 Mark Jones *
+* *
+* Permission is hereby granted, free of charge, to any person obtaining a copy *
+* of this software and associated documentation files (the "Software"), to deal*
+* in the Software without restriction, including without limitation the rights *
+* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell *
+* copies of the Software, and to permit persons to whom the Software is *
+* furnished to do so, subject to the following conditions: *
+* *
+* The above copyright notice and this permission notice shall be included in *
+* all copies or substantial portions of the Software. *
+* *
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR *
+* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, *
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE *
+* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER *
+* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,*
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN *
+* THE SOFTWARE. *
+* *
+* RenBuggyTimed.cpp *
+* *
+* V1.0 31/03/2014 Mark Jones *
+*******************************************************************************/
+
+#ifndef RENBUGGYTIMED_C
+#define RENBUGGYTIMED_C
+
+#include "RenBuggyTimed.h"
+
+RenBuggy::RenBuggy(PinName leftMotor, PinName rightMotor,
+ PinName leftBrake, PinName rightBrake) :
+ m_motorL(leftMotor), m_motorR(rightMotor),
+ m_brakeL(leftBrake), m_brakeR(rightBrake) {
+
+
+}
+
+RenBuggy::~RenBuggy() {
+}
+
+void RenBuggy::forward(float time) {
+
+ m_motorL = m_motorR = 1.0;
+ wait(time);
+}
+
+void RenBuggy::left(float time) {
+
+ m_motorL = 0.2;
+ m_motorR = 1.0;
+ wait(time);
+}
+
+void RenBuggy::right(float time) {
+
+ m_motorL = 1.0;
+ m_motorR = 0.2;
+ wait(time);
+}
+
+void RenBuggy::stop() {
+
+ m_motorL = m_motorR = 0;
+ m_brakeL = m_brakeR = 1.0;
+}
+
+#endif // RENBUGGYTIMED_C
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/RenBuggyTimed.h Mon Mar 31 10:18:38 2014 +0000
@@ -0,0 +1,100 @@
+/*******************************************************************************
+* Used to drive RenBuggy with 2 wheels for a specified amount of time. *
+* Copyright (c) 2014 Mark Jones *
+* *
+* Permission is hereby granted, free of charge, to any person obtaining a copy *
+* of this software and associated documentation files (the "Software"), to deal*
+* in the Software without restriction, including without limitation the rights *
+* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell *
+* copies of the Software, and to permit persons to whom the Software is *
+* furnished to do so, subject to the following conditions: *
+* *
+* The above copyright notice and this permission notice shall be included in *
+* all copies or substantial portions of the Software. *
+* *
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR *
+* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, *
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE *
+* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER *
+* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,*
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN *
+* THE SOFTWARE. *
+* *
+* RenBuggyTimed.h *
+* *
+* V1.0 31/03/2014 Mark Jones *
+*******************************************************************************/
+
+#ifndef RENBUGGYTIMED_H
+#define RENBUGGYTIMED_H
+
+#include "mbed.h"
+
+/**
+* RenBuggyTimed example:
+* @code
+
+#include "RenBuggyTimed.h"
+
+RenBuggy myBuggy(p5, p6, p8, p7);
+
+int main() {
+
+ myBuggy.forward(4);
+ myBuggy.left(3);
+ myBuggy.forward(4);
+ myBuggy.right(3);
+
+ return 0;
+}
+@endcode
+*/
+
+/**
+* The class used to control a timed version
+* of the RenBuggy with 2 wheels.
+*/
+class RenBuggy {
+
+ private:
+ PwmOut m_motorL;
+ PwmOut m_motorR;
+
+ DigitalOut m_brakeL;
+ DigitalOut m_brakeR;
+
+ public:
+ /**
+ * Constructs the class with the pins for the pwm outputs
+ * and the digital outputs, to move and stop.
+ */
+ RenBuggy(PinName leftMotor, PinName rightMotor,
+ PinName leftBrake, PinName rightBrake);
+ /**
+ * Deconstructs the buggy.
+ */
+ ~RenBuggy();
+
+ /**
+ * Moves the buggy forward for a specified amount of time.
+ */
+ void forward(float time);
+
+ /**
+ * Turns the buggy forward and left for a specified amount of time.
+ */
+ void left(float time);
+
+ /**
+ * Turns the buggy forward and right for a specified amount of time.
+ */
+ void right(float time);
+
+ /**
+ * Applies the brakes.
+ */
+ void stop();
+
+};
+
+#endif // RENBUGGYTIMED_H
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Mar 31 10:18:38 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/7d30d6019079 \ No newline at end of file