Derek Calland
This is my first attempt using an mbed. My project will be to build a rover that uses a compass, collision detection and ultimately GPS to try and be as free thinking as possible. Having great fun so far and learning practical things all the time. The mbed is a great learning platform and the community fantastic.
Dependencies: TextLCD mbed SRF08
Revision 0:b62ee1c95bd3, committed 2011-04-01
- Comitter:
- Degs
- Date:
- Fri Apr 01 20:29:35 2011 +0000
- Commit message:
- First Revision just drives Forward and Reverses if object detected for collision.
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SRF08.lib Fri Apr 01 20:29:35 2011 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/chris/code/SRF08/#ba04e9cd48fc
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/TextLCD.lib Fri Apr 01 20:29:35 2011 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/simon/code/TextLCD/#e4cb7ddee0d3
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Apr 01 20:29:35 2011 +0000
@@ -0,0 +1,97 @@
+#include "mbed.h"
+#include "SRF08.h"
+#include "TextLCD.h"
+
+//This program uses the Magnevation Dual Driver board that I originally
+//had for the OOPIC. I have the board driving HN-GH12-2217Y geared motors
+//type HSIANG NENG.
+
+SRF08 srf08(p9, p10, 0xE0); // Define SDA, SCL pin and I2C address
+
+PwmOut MotorRightWheel(p23); // pwm
+PwmOut MotorLeftWheel(p25); // pwm
+
+DigitalOut DirectionR=p27;//Sets the direction pin on the Magnevation
+DigitalOut DirectionL=p29;
+DigitalOut BrakeR=p28;//Releases the Brake pin on the Magnevation
+DigitalOut BrakeL=p30;
+
+TextLCD lcd(p15, p16, p17, p18, p19, p20);
+
+float RangeReading() {
+ float value;
+ value = srf08.read();
+ return (value);
+}
+
+float DriveForwardFullSpeed() {
+ float s;
+ DirectionR=0;//Set the direction Right motor
+ DirectionL=1;//Set the direction Left motor
+ BrakeR = BrakeL = 1;//Take Brake OFF
+ for (s= 0.0; s < 1.0 ; s += 0.01) {
+ MotorRightWheel=s;
+ MotorLeftWheel=s;
+ wait(0.2);
+ }
+ return (s);
+}
+
+float DriveReverse() {
+ float s =0;
+ DirectionR=1;//Set the direction Right motor
+ DirectionL=0;//Set the direction Left motor
+ BrakeR = BrakeL = 1; //Take Brake OFF
+ for (float s= 0.0; s < 1.0 ; s += 0.01) {
+ MotorRightWheel=s;
+ MotorLeftWheel=s;
+ wait(0.2);
+ }
+ wait(0.2);// Slow down and stop
+ for (float s = 1.0; s > 0.0; s -= 0.01) {
+ MotorRightWheel=s;
+ MotorLeftWheel=s;
+ wait(0.2);
+ }
+ BrakeR = BrakeL = 0; //Put Brake ON
+ return (s);
+}
+
+float ZeroSpeedForward() {
+ float s =0;
+ DirectionR=0;//Set the direction Right motor
+ DirectionL=1;//Set the direction Left motor
+ for (float s = 1.0; s > 0.0; s -= 0.01) {
+ MotorRightWheel=s;
+ MotorLeftWheel=s;
+ wait(0.2);
+ }
+ BrakeR = BrakeL = 0; //Put Brake ON
+ return (s);
+}
+
+int main() {
+ float distance, speed = 0;
+ while (1) {
+ lcd.cls();
+ distance = RangeReading();
+ lcd.printf("Range: %2.f cm\n",distance);
+ wait(0.2);
+ if (distance >100 && speed <0.1) {
+ lcd.printf("Forward \n");
+ speed = DriveForwardFullSpeed();
+ }
+ distance = RangeReading();
+ lcd.printf("Range: %2.f cm\n",distance);
+ if (distance < 100 && speed >0.5) {
+ speed = ZeroSpeedForward();
+ }
+ distance = RangeReading();
+ if (distance > 0.0 && speed == 0.0) {
+ lcd.printf("Reverse \n");
+ speed = DriveReverse();
+ }
+ wait (0.5);
+ }
+}
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Fri Apr 01 20:29:35 2011 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/63bcd7ba4912