Revision 7:d2af97b7cc94, committed 2017-07-23

Comitter:

catalincraciun7

Date:

Sun Jul 23 12:51:35 2017 +0000

Parent:

6:7740c9d8d834

Commit message:

Minor changes to code style;

Changed in this revision

--- a/Buzzer.cpp	Sun Dec 21 12:46:41 2014 +0000
+++ b/Buzzer.cpp	Sun Jul 23 12:51:35 2017 +0000
@@ -2,44 +2,34 @@
 //  Buzzer.cpp
 //   © 2014 Catalin Craciun
 
-#ifndef BuzzerCpp
-#define BuzzerCpp
+#include "Buzzer.h"
+#define MELODY_LENGTH 5
 
-#include "Buzzer.h"
-
-Buzzer::Buzzer(PinName buzzerPinName):buzzerPin(buzzerPinName)
-{
-
+Buzzer::Buzzer(PinName buzzerPinName):buzzerPin(buzzerPinName) {
     // Initialising
     buzzerPin.period_us(0);
     buzzerPin.pulsewidth_us(0);
 }
 
-Buzzer::~Buzzer()
-{
-
+Buzzer::~Buzzer() {
     // Deinitialising
 }
 
-void Buzzer::stopBeep()
-{
+void Buzzer::stopBeep() {
 
     buzzerPin.period_us(0);
     buzzerPin.pulsewidth_us(0);
 }
 
-void Buzzer::startBeep(float frequency, float duration)
-{
-
-    buzzerPin.period(1/frequency);
+void Buzzer::startBeep(float frequency, float duration) {
+    buzzerPin.period(1.0f/frequency);
     buzzerPin.pulsewidth_us(100);
     timeout.attach(this, &Buzzer::stopBeep, duration);
 }
 
-void Buzzer::playDefaultMelody()
-{
+void Buzzer::playDefaultMelody() {
     // Playing default melody on buzzer
-    while (true) {
+    for (int cycle = 0; cycle < MELODY_LENGTH; cycle++) {
         buzzerPin.period(16);
         buzzerPin.pulsewidth_us(200);
         wait(0.5);
@@ -65,5 +55,3 @@
         wait(0.5);
     }
 }
-
-#endif // BuzzerCpp
\ No newline at end of file

--- a/Buzzer.h	Sun Dec 21 12:46:41 2014 +0000
+++ b/Buzzer.h	Sun Jul 23 12:51:35 2017 +0000
@@ -9,17 +9,18 @@
 
 class Buzzer {
     public:
-        // Public methods and properties
         Buzzer(PinName buzzerPinName);
         ~Buzzer();
+        
         void stopBeep();
         void startBeep(float frequency, float duration);
+        
         void playDefaultMelody();
     private:
-        // Private methods and properties
-        void playMel();
         PwmOut buzzerPin;
         Timeout timeout;
+        
+        void playMel();
 };
 
-#endif // BuzzerH
\ No newline at end of file
+#endif // BuzzerH

--- a/ZumoRobotManager.cpp	Sun Dec 21 12:46:41 2014 +0000
+++ b/ZumoRobotManager.cpp	Sun Jul 23 12:51:35 2017 +0000
@@ -2,9 +2,6 @@
 //  ZumoRobotManager.cpp
 //   © 2014 Catalin Craciun
 
-#ifndef ZumoRobotManagerCpp
-#define ZumoRobotManagerCpp
-
 #include "ZumoRobotManager.h"
 #include "mbed.h"
 
@@ -19,38 +16,41 @@
 PwmOut pwmLeft(PTD0);
 
 ZumoRobotManager::ZumoRobotManager() {
-    
     // Initialising
     this -> velocityX = 0;
     this -> velocityY = 0;
 }
 
 ZumoRobotManager::~ZumoRobotManager() {
-    
     // Deinitialising
-    
+}
+
+void ZumoRobotManager::applyPowerToLeftEngine(int power) {
+    pwmLeft.period_us(60);
+    pwmLeft.pulsewidth_us(power);
+}
+
+void ZumoRobotManager::applyPowerToRightEngine(int power) {
+    pwmRight.period_us(60);
+    pwmRight.pulsewidth_us(power);
 }
 
 float ZumoRobotManager::getVelocityX() {
-
     return this -> velocityX;    
 }
 
 float ZumoRobotManager::getVelocityY() {
-
     return this -> velocityY;
 }
 
 void ZumoRobotManager::setVelocityX(float newValue) {
-  
     if (this -> velocityX != newValue) {
         this -> velocityX = newValue;
         this -> updateMotors();
     }
 }
 
-void ZumoRobotManager::setVelocityY(float newValue) {
- 
+void ZumoRobotManager::setVelocityY(float newValue) { 
     if (this -> velocityY != newValue) {
         this -> velocityY = newValue;
         this -> updateMotors();
@@ -58,7 +58,6 @@
 }
 
 bool ZumoRobotManager::checkPassword(char toCheck[]) {
-
     if (toCheck[0] == '8' &&
         toCheck[1] == '1' &&
         toCheck[2] == '1' &&
@@ -70,7 +69,6 @@
 }
 
 void ZumoRobotManager::updateMotors() {
-    
     float powerLeftEngine = 0;
     float powerRightEngine = 0;
     float dist = sqrt(velocityX*velocityX + velocityY*velocityY);
@@ -101,7 +99,6 @@
     }
     
     // Do whatever you want with these powers
-
     pwmLeft.period_us(60);
     pwmRight.period_us(60);
 
@@ -121,5 +118,3 @@
         pwmRight.pulsewidth_us(-powerRightEngine);
     }
 }
-
-#endif // ZumoRobotManagerCpp
\ No newline at end of file

--- a/ZumoRobotManager.h	Sun Dec 21 12:46:41 2014 +0000
+++ b/ZumoRobotManager.h	Sun Jul 23 12:51:35 2017 +0000
@@ -7,7 +7,6 @@
 
 class ZumoRobotManager {
     public:
-        // Public methods and properties
         ZumoRobotManager();
         ~ZumoRobotManager();
         
@@ -15,11 +14,13 @@
         float getVelocityY();
         void setVelocityX(float newValue);
         void setVelocityY(float newValue);
+        void applyPowerToRightEngine(int power);
+        void applyPowerToLeftEngine(int power);
         bool checkPassword(char toCheck[]);
     private:
-        // Private methods and properties
         float velocityX;
         float velocityY;
+        
         void updateMotors();
 };