Revision 0:c0ae66a0ec7a, committed 2015-02-23

Comitter:

dwini

Date:

Mon Feb 23 12:24:31 2015 +0000

Child:

1:43c91152e9ce

Commit message:

Define interface of pololu for racing robots.

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/racing_robots.cpp	Mon Feb 23 12:24:31 2015 +0000
@@ -0,0 +1,27 @@
+#include "racing_robots.h"
+
+DigitalOut myled(LED1);
+
+extern void loop(void);
+extern void init(void);
+
+
+void _init(void) {
+    // DO our init here
+
+    init(); // Students init
+}
+
+void racing_robots(void) {
+    // Initialize system
+    _init();
+
+    while (true) {
+        loop();     // Students loop
+    }
+}
+
+
+int main (void) {
+    racing_robots();
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/racing_robots.h	Mon Feb 23 12:24:31 2015 +0000
@@ -0,0 +1,10 @@
+#include "mbed.h"
+#include "m3pi.h"
+#include "robot_logic.h"
+
+#ifndef H_RACING_ROBOTS
+#define H_RACING_ROBOTS
+
+void racing_robots(void);
+
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/robot_logic.cpp	Mon Feb 23 12:24:31 2015 +0000
@@ -0,0 +1,98 @@
+#include "robot_logic.h"
+
+m3pi m3pi;
+
+#define MAX_SPEED 1.0
+#define MAX_TURN_SPEED 1.0
+
+/*
+ * Drive the robot forward or backward.
+ *
+ * @speed The speed percentage with which to drive forward or backward.
+ * Can range from -100 (full throttle backward) to +100 (full throttle forward).
+ */
+void drive(int speed) {
+    if (speed > 100 || speed < -100) {
+        printf("[ERROR] Drive speed out of range");
+        return;
+    }
+
+    if (speed == 0) {
+        m3pi.stop();
+    } else if (speed > 0) {
+        m3pi.forward(MAX_SPEED*speed/100.0);
+    } else if (speed < 0) {
+        m3pi.backward(MAX_SPEED*-speed/100.0);
+    }
+}
+
+/*
+ * Turn the robot left or right.
+ *
+ * @speed The speed percentage with which to turn the robot.
+ * Can range from -100 (full throttle left) to +100 (full throttle right).
+ */
+void turn(int turnspeed) {
+    if (turnspeed > 100 || turnspeed < -100) {
+        printf("[ERROR] Turn speed out of range");
+        return;
+    }
+
+    if (turnspeed == 0) {
+        m3pi.stop();
+    } else if (turnspeed > 0) {
+        m3pi.right(MAX_TURN_SPEED*turnspeed/100.0);
+    } else if (turnspeed < 0) {
+        m3pi.left(MAX_TURN_SPEED*-turnspeed/100.0);
+    }
+}
+
+/*
+ * Stop the robot.
+ */
+void stop(void) {
+    m3pi.stop();
+}
+
+/*
+ * Read the value from the line sensor. The returned value indicates the
+ * position of the line. The value ranges from -100 to +100 where -100 is
+ * fully left, +100 is fully right and 0 means the line is detected in the middle.
+ *
+ * @return The position of the line with a range of -100 to +100.
+ */
+int line_sensor(void) {
+    // Get position of line [-1.0, +1.0]
+    float pos = m3pi.line_position();
+    return ((int)(pos * 100));
+}
+
+
+
+// Show drive speed and sensor data
+void showStats(void) {
+    m3pi.cls();          // Clear display
+
+    // Display speed
+    m3pi.locate(0, 0);
+        // x   The horizontal position, from 0 to 7
+        // y   The vertical position, from 0 to 1
+    m3pi.printf("FOR 100%%");
+
+    // Display line
+    m3pi.locate(0, 1);
+    int line = line_sensor();
+    m3pi.printf("LINE %d", line);
+}
+
+
+
+
+/*
+ * Wait for an approximate number of milliseconds.
+ *
+ * @milliseconds The number of milliseconds to wait.
+ */
+void doWait(int milliseconds) {
+    wait_ms(milliseconds);
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/robot_logic.h	Mon Feb 23 12:24:31 2015 +0000
@@ -0,0 +1,59 @@
+#include "mbed.h"
+#include "m3pi.h"
+
+#ifndef H_ROBOT_LOGIC
+#define H_ROBOT_LOGIC
+
+//typedef enum {
+//    LED_1 = 0,
+//    LED_2 = 1,
+//    LED_3 = 2,
+//    LED_4 = 3
+//    //.....
+//} LedIndex;
+
+typedef enum {
+    LED_ON = 0,
+    LED_OFF = 1,
+    LED_TOGGLE = 2
+} LedState;
+
+
+/*
+ * Drive the robot forward or backward.
+ *
+ * @speed The speed percentage with which to drive forward or backward [-100, +100].
+ */
+void drive(int speed);
+
+// speed between -100% en +100%
+void turn(int turnspeed);
+
+// Stop the robot
+void stop();
+
+void sensor_calibrate();
+
+// Read the value from the line sensor
+int line_sensor();
+
+// PID drive control
+void pid_init(int p, int i, int d);
+
+
+// returns turnspeed
+int pid_turn(int line_position);
+
+// Show drive speed and sensor data
+void showStats();
+
+// Show text on display
+void display(char* fmt, ...);
+
+// Turn a led on or off
+//void led(LedIndex i, LedState state);
+
+// Wait for a number of milliseconds
+void await(int milliseconds);
+
+#endif
\ No newline at end of file