Revision 7:887c729fd7c1, committed 2014-07-31

Comitter:

screamer

Date:

Thu Jul 31 14:29:50 2014 +0000

Parent:

6:9479362be27f

Child:

8:9fd1722259a1

Commit message:

Changed constructor to accept pin parameters (instead of static ones); Added turn_left/right() and stopLeft/Right();; Fixed documentation

Changed in this revision

--- a/SeeedStudioShieldBot.cpp	Mon Jul 15 14:03:41 2013 +0000
+++ b/SeeedStudioShieldBot.cpp	Thu Jul 31 14:29:50 2014 +0000
@@ -2,39 +2,37 @@
 #include "mbed.h"
 
 
-SeeedStudioShieldBot::SeeedStudioShieldBot() :  rightSensor(PTB0),
-    inRightSensor(PTB1),
-    centreSensor(PTB2),
-    inLeftSensor(PTB3),
-    leftSensor(PTA4),
-    motor1A(PTA5),
-    motor1B(PTC9),
-    motor1En(PTC8),
-    motor2A(PTA12),
-    motor2B(PTD0),
-    motor2En(PTD5) {
+SeeedStudioShieldBot::SeeedStudioShieldBot(
+    PinName mot1A, PinName mot1En, PinName mot1B,
+    PinName mot2A, PinName mot2En, PinName mot2B,
+    PinName sensor_right, PinName sensor_inright, PinName sensor_center, PinName sensor_inleft, PinName sensor_left
+) :
+    motor1A(mot1A), motor1En(mot1En), motor1B(mot1B),
+    motor2A(mot2A), motor2En(mot2En), motor2B(mot2B),
+    rightSensor(sensor_right), inRightSensor(sensor_inright), centreSensor(sensor_center), inLeftSensor(sensor_inleft), leftSensor(sensor_left)
+{
     // Something should go here...
 }
 
-void SeeedStudioShieldBot::right_motor(float speed) { 
+void SeeedStudioShieldBot::right_motor(float speed)
+{
     // The bit that's actually needed...
     if (speed >= 0) {
         motor1A = speed;
         motor1B = 0;
-    }
-    else {
+    } else {
         motor1A = 1 + speed;
         motor1B = 1;
     }
 }
 
-void SeeedStudioShieldBot::left_motor(float speed) {   
+void SeeedStudioShieldBot::left_motor(float speed)
+{
     // Useful bit
     if (speed >= 0) {
         motor2A = speed;
         motor2B = 0;
-    }
-    else {
+    } else {
         motor2A = 1 + speed;
         motor2B = 1;
     }
@@ -42,65 +40,84 @@
 
 // The following two functions turn the robot on the spot...
 
-void SeeedStudioShieldBot::left(float speed) {
+void SeeedStudioShieldBot::left(float speed)
+{
     left_motor(-speed);
     right_motor(speed);
 }
 
-void SeeedStudioShieldBot::right(float speed) {
+void SeeedStudioShieldBot::right(float speed)
+{
     left_motor(speed);
     right_motor(-speed);
 }
 
+void SeeedStudioShieldBot::turn_left(float speed)
+{
+    left_motor(speed);
+    right_motor(0);
+}
+
+void SeeedStudioShieldBot::turn_right(float speed)
+{
+    left_motor(0);
+    right_motor(speed);
+}
+
 // Again, until we get PWM on the pin w/o PWM, there's no way we can really have this any other way than 1...
 // This is the case for both forwards and backwards...
 
 // FIXED, using jumper between pins 8 and 3 on top of the robot board... unfortunately it wastes an io pin, but is easier than using software IO.
 // It also means that the 'lid' can't go on top.
 
-void SeeedStudioShieldBot::forward(float speed) {
+void SeeedStudioShieldBot::forward(float speed)
+{
     if (speed == 0) {
         left_motor(0);
         right_motor(0);
-    }
-    else {
+    } else {
         left_motor(speed);
         right_motor(speed);
     }
 }
 
-void SeeedStudioShieldBot::backward(float speed) {
+void SeeedStudioShieldBot::backward(float speed)
+{
     if (speed == 0) {
         left_motor(0);
         right_motor(0);
-    }
-    else {
+    } else {
         left_motor(-speed);
         right_motor(-speed);
     }
 }
 
-void SeeedStudioShieldBot::enable_right_motor() {
+void SeeedStudioShieldBot::enable_right_motor()
+{
     motor1En = 1;
 }
 
-void SeeedStudioShieldBot::enable_left_motor() {
+void SeeedStudioShieldBot::enable_left_motor()
+{
     motor2En = 1;
 }
 
-void SeeedStudioShieldBot::disable_right_motor() {
+void SeeedStudioShieldBot::disable_right_motor()
+{
     motor1En = 0;
 }
 
-void SeeedStudioShieldBot::disable_left_motor() {
+void SeeedStudioShieldBot::disable_left_motor()
+{
     motor2En = 0;
 }
 
 // Give a value representative of the overall data received by the sensors...
 // Output between +1 and -1.
 // Positive is right, negative left...
-float SeeedStudioShieldBot::line_position() {
-    float output = 0; 
+float SeeedStudioShieldBot::line_position()
+{
+    float output = 0;
     if (rightSensor == 1) {
         output += 0.5;
     }
@@ -113,25 +130,33 @@
     if (inLeftSensor == 1) {
         output -= 0.5;
     }
-    
+
     return output;
 }
 
-void SeeedStudioShieldBot::stopAll() {
+void SeeedStudioShieldBot::stop(int motor)
+{
+    if (motor == 1) {
+        stopLeft();
+    } else if (motor == 2) {
+        stopRight();
+    }
+}
+
+void SeeedStudioShieldBot::stopLeft()
+{
     motor1A = 0;
     motor1B = 0;
+}
+
+void SeeedStudioShieldBot::stopRight()
+{
     motor2A = 0;
     motor2B = 0;
 }
 
-void SeeedStudioShieldBot::stop(int motor) {
-    if (motor == 1) {
-        // Stop motor 0...
-        motor1A = 0;
-        motor1B = 0;
-    }
-    else if (motor == 2) {
-        motor2A = 0;
-        motor2B = 0;
-    }
-}
\ No newline at end of file
+void SeeedStudioShieldBot::stopAll()
+{
+    stopLeft();
+    stopRight();
+}

--- a/SeeedStudioShieldBot.h	Mon Jul 15 14:03:41 2013 +0000
+++ b/SeeedStudioShieldBot.h	Thu Jul 31 14:29:50 2014 +0000
@@ -8,27 +8,40 @@
 class SeeedStudioShieldBot {
     public:
     
-        // Create a shield bot object, using default settings for now...
-        SeeedStudioShieldBot();
-        
+        /** Create a shield bot object
+         *
+         * @param mot1A Left Motor A pin, default D5
+         * @param mot1B Left Motor B pin, default D6
+         * @param mot1En Left Motor enable pin, default D7
+         * @param mot2A Right Motor A pin, default D3
+         * @param mot2B Right Motor B pin, default D9
+         * @param mot2En Right Motor enable pin, default D10
+         * @param sensor_right Sensor right pin, default A0
+         * @param sensor_inright Sensor in-right pin, default A1
+         * @param sensor_center Sensor right pin, default A2
+         * @param sensor_inleft Sensor in-left pin, default A3
+         * @param sensor_left Sensor left pin, default D4
+         */
+        SeeedStudioShieldBot(PinName mot1A, PinName mot1En, PinName mot1B, PinName mot2A, PinName mot2En, PinName mot2B, PinName sensor_right, PinName sensor_inright, PinName sensor_center, PinName sensor_inleft, PinName sensor_left);
+
         /** Switch on the left motor at the given speed.
          *  @param speed The speed, from 0.0 to 1.0 at which to spin the motor.
-        */
+         */
         void left_motor(float speed);
         
         /** Switch on the right motor at the given speed.
          *  @param speed The speed, from 0.0 to 1.0 at which to spin the motor.
-        */
+         */
         void right_motor(float speed);
         
         /** Switch on both motors, forwards at the given speed.
          *  @param speed The speed, from 0.0 to 1.0 at which to spin the motor.
-        */
+         */
         void forward(float speed);
         
         /** Switch on both motors, backwards at the given speed.
          *  @param speed The speed, from 0.0 to 1.0 at which to spin the motor.
-        */
+         */
         void backward(float speed);
         
         /** Switch on both motors at the given speed, in opposite directions so as to turn left.
@@ -38,38 +51,56 @@
         
         /** Switch on both motors at the given speed, in opposite directions so as to turn right.
          *  @param speed The speed, from 0.0 to 1.0 at which to spin the motors.
-        */
+         */
         void right(float speed);
-
+        
+        /** Turns left.
+         *  @param speed The speed, from 0.0 to 1.0 at which to spin the motor.
+         */
+        void turn_left(float speed);
+        
+        /** Turns right.
+         *  @param speed The speed, from 0.0 to 1.0 at which to spin the motor.
+         */
+        void turn_right(float speed);
+        
         /** Disable the left motor, by driving enable pin for the second motor low...
-        */
+         */
         void disable_left_motor();
         
         /** Disable the left motor, by driving enable pin for the first motor low...
-        */
+         */
         void disable_right_motor();
         
         /** Enable the left motor, by driving enable pin for the second motor high...
-        */
+         */
         void enable_left_motor();
         
         /** Enable the left motor, by driving enable pin for the first motor high...
-        */
+         */
         void enable_right_motor();
         
-        /** Stop both motors at the same time. Different to disable.
-        */
-        void stopAll();
-        
         /** Stop a chosen motor.
          *  @param motor Number, either 1 or 2 choosing the motor.
-        */
+         */
         void stop(int motor);
         
+        /** Stop left motor.
+         */
+        void stopLeft();
+        
+        /** Stop right motor.
+         */
+        void stopRight();
+        
+        /** Stop both motors at the same time. Different to disable.
+         */
+        void stopAll();
+        
         // Need to do something to do with detected line...
         
         /** Gives an indication of the data given by the reflectivity sensors.
-        */
+         */
         float line_position();
         
         DigitalIn rightSensor;
@@ -83,7 +114,6 @@
         DigitalOut motor1B;
         DigitalOut motor1En;
         
-        // motor2A or motor2B need to be PWM, but the freedom board doesn't support it at the moment...
         PwmOut motor2A;
         DigitalOut motor2B;
         DigitalOut motor2En;