Diff: Robot.h

Revision:

0:fc95840345e8

Child:

1:b4d202b471ae

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Robot.h	Tue Oct 12 20:51:08 2010 +0000
@@ -0,0 +1,72 @@
+#ifndef ROBOT_H
+#define ROBOT_H
+
+// This library was designed simplify operation of Stinger robot only with MBED and two H-Bridges.
+// Is is still in development.
+// Class Robot integrated QEI, PID and Motor classes to work together through use of Ticker function to 
+// regularly poll QEI objects, adjust PID and Motor objects.
+// Right now all pins have been preassigned, later empty constructor will be added with individual pin assignments.
+//    Pinouts are:
+//    rightMotor = new Motor(p23, p6, p5); // pwm, fwd, rev
+//    leftMotor = new Motor(p22, p8, p7); // pwm, fwd, rev
+//    leftQei = new QEI(p29,  p30, NC, 624, QEI::X2_ENCODING);  //chanA, chanB, index, ppr
+//    rightQei = new QEI(p27, p28, NC, 624, QEI::X2_ENCODING);  //chanB, chanA, index, ppr
+//    leftPid = new PID(0.4312, 0.1, 0.0, RATE);  //Kc, Ti, Td
+//    rightPid = new PID(0.4312, 0.1, 0.0, RATE); //Kc, Ti, Td
+
+#include "mbed.h"
+#include "Motor.h"
+#include "QEI.h"
+#include "PID.h"
+
+#define MAX_SPEED 3200
+#define RATE 0.05
+#define DPP  14.2 //Pulses per degree of motor rotation
+
+
+class Robot {
+public:
+    Robot();
+    virtual ~Robot();
+    void    MoveStraightPulses(float s, int clix);
+    void    MoveStraightInches(float speed, float in);
+    void    MoveStraightRotations(float speed, float rotations);
+
+    void    StopLeft();
+    void    StopRight();
+    void    Stop();
+
+    void    PivetLeft(float deg);
+    void    PivetRight(float deg);
+    void    RotateLeftWheel(float rpm, float deg);     //Rotate Wheel <deg> Degrees
+    void    RotateRightWheel(float rpm, float deg);    //Rotate Wheel <deg> Degrees
+    int     IsBusy();
+
+
+protected:
+    Motor   *rightMotor;
+    Motor   *leftMotor;
+    QEI     *leftQei;
+    QEI     *rightQei;
+    PID     *leftPid;
+    PID     *rightPid;
+    Serial  *pc;
+    void    Call();
+
+private:
+    Ticker           ticker;
+    volatile int     leftPulses;
+    volatile int     rightPulses;
+    volatile int     leftPrevPulses;
+    volatile int     rightPrevPulses;
+    volatile int     leftPulsesGoTo;
+    volatile int     rightPulsesGoTo;
+    volatile int     leftSpeed;
+    volatile int     rightSpeed;
+    volatile float   rightVelocity;
+    volatile float   leftVelocity;
+    float   leftDirection;
+    float   rightDirection;
+};
+
+#endif /* ROBOT_H */