Revision 4:1be0f6c6ceae, committed 2013-04-03

Comitter:

twighk

Date:

Wed Apr 03 17:54:53 2013 +0000

Parent:

3:717de74f6ebd

Child:

5:56a5fdd373c9

Commit message:

State on 3rd of april

Changed in this revision

--- a/Actuators/Actuator.h	Mon Apr 01 15:33:48 2013 +0000
+++ b/Actuators/Actuator.h	Wed Apr 03 17:54:53 2013 +0000
@@ -6,7 +6,7 @@
 
 class Actuator {
     private:
-    static Actuator *Head;
+    static Actuator *Head; // Actuator.cpp
     Actuator *next;
     
     public:
@@ -24,15 +24,14 @@
     virtual void halt (void) = 0;
     
     static void haltandCatchFire(void){
-            //halt
-            for(Actuator* nxt = Head; nxt != NULL; nxt = nxt->next){
-                nxt->halt();
-            }
-            DigitalOut myled(LED1);
-            myled = 1;
-            
-            //catchFire
-            while(true);
+        DigitalOut myled(LED1);
+        myled = 1;
+        //halt
+        for(Actuator* nxt = Head; nxt != NULL; nxt = nxt->next){
+            nxt->halt();
+        }   
+        //catchFire
+        while(true);
     }
 
 

--- a/Actuators/Arms/Arm.h	Mon Apr 01 15:33:48 2013 +0000
+++ b/Actuators/Arms/Arm.h	Wed Apr 03 17:54:53 2013 +0000
@@ -11,7 +11,12 @@
     bool updirn;
 
 public:
-    Arm(PinName yellow, bool upflip = false, float range = 0.0005, float degrees = 45.0) : Servo(yellow) {
+    Arm ( PinName yellowPWM
+        , bool upflip = false
+        , float range = 0.0005, float degrees = 45.0
+        ) 
+        : Servo(yellowPWM) 
+        {
         calibrate(range, degrees);
         updirn = upflip;
     }

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Sensors/Colour/Colour.cpp	Wed Apr 03 17:54:53 2013 +0000
@@ -0,0 +1,30 @@
+
+// Eurobot13 Colour.cpp
+
+#include "Colour.h"
+
+void Colour::ReadLed (Led &led, float &avg, float &stdev, const int measureNum){
+    LedsOff();
+    led.on();
+    double x = 0, x2 = 0;
+    for (int i = measureNum; i != 0; i--) {
+        float v = pt.read();
+        x += v;
+        x2+= v*v;
+    }
+    avg = x / measureNum;
+    stdev = sqrt(x2 / measureNum - avg*avg);
+    LedsOff();
+    //pc.printf("Phototransistor Analog is: %f\t%f\n\r", avg, stdev);
+}
+
+bool Colour::isColour(Led &led, const float &avg, const float &stdev, const float numstddev){
+    float avg2, stdev2;
+    ReadLed(led, avg2, stdev2);
+
+    if (avg + numstddev*stdev < avg2 - numstddev*stdev2) {
+        return true;
+    } else {
+        return false;
+    }
+}
\ No newline at end of file

--- a/Sensors/Colour/Colour.h	Mon Apr 01 15:33:48 2013 +0000
+++ b/Sensors/Colour/Colour.h	Wed Apr 03 17:54:53 2013 +0000
@@ -1,7 +1,6 @@
 
 // Eurobot13 Colour.h
 
-
 #include "mbed.h"
 #include "Led.h"
 #include "Phototransistor.h"
@@ -45,32 +44,7 @@
 
 private:
     void LedsOff(){blue.off(); red.off();}
-    void ReadLed (Led &led, float &avg, float &stdev, const int measureNum = 25){
-        LedsOff(); led.on();
-        double x = 0, x2 = 0;
-        for (int i = measureNum; i != 0; i--){
-            float v = pt.read();
-            x += v;
-            x2+= v*v;
-        }
-        avg = x / measureNum;
-        stdev = sqrt(x2 / measureNum - avg*avg);
-        LedsOff();
-        
-        pc.printf("Phototransistor Analog is: %f\t%f\n\r", avg, stdev);
-    }
+    void ReadLed (Led &led, float &avg, float &stdev, const int measureNum = 25); // Colour.cpp
+    bool isColour(Led &led, const float &avg, const float &stdev, const float numstddev = 2); // Colour.cpp
     
-    bool isColour(Led &led, const float &avg, const float &stdev, const float numstddev = 2 ){
-        float avg2, stdev2;
-        ReadLed(led, avg2, stdev2);
-        
-        if (avg + numstddev*stdev < avg2 - numstddev*stdev2){
-            return true;
-        } else {
-            return false;
-        }
-    }
-    
-
-
 };
\ No newline at end of file

--- a/Sensors/Colour/Phototransistor.h	Mon Apr 01 15:33:48 2013 +0000
+++ b/Sensors/Colour/Phototransistor.h	Wed Apr 03 17:54:53 2013 +0000
@@ -1,7 +1,6 @@
 #ifndef __Phototransistor_h__
 #define __Phototransistor_h__
 
-
 // Eurobot13 Phototransistor.h
 
 class Phototransistor{

--- a/main.cpp	Mon Apr 01 15:33:48 2013 +0000
+++ b/main.cpp	Wed Apr 03 17:54:53 2013 +0000
@@ -5,12 +5,12 @@
 #include "mbed.h"
 Serial pc(USBTX, USBRX);
 
+#include "Actuators/Arms/Arm.h"
 #include "Actuators/MainMotors/MainMotor.h"
+#include "Others/EmergencyStop/EmergencyStop.h"
 #include "Sensors/Encoders/Encoder.h"
-#include "Actuators/Arms/Arm.h"
-#include "Others/EmergencyStop/EmergencyStop.h"
+#include "Sensors/Colour/Colour.h"
 #include "Sensors/Colour/Led.h"
-#include "Sensors/Colour/Colour.h"
 #include "Sensors/Colour/Phototransistor.h"
 
 
@@ -96,7 +96,6 @@
 
 void phototransistortest(){
     Phototransistor pt(p20); 
-    Serial pc(USBTX, USBRX);
     while(true){
         wait(0.1);
         pc.printf("Phototransistor Analog is: %f \n\r", pt.read());
@@ -132,7 +131,7 @@
     Encoder Eleft(p27, p28), Eright(p30, p29);
     MainMotor mleft(p24,p23), mright(p21,p22);
     Arm sTop(p25), sBottom(p26);
-    Serial pc(USBTX, USBRX);
+    //Serial pc(USBTX, USBRX);
     const float speed = 0.0;
     const float dspeed = 0.0;
     
@@ -177,7 +176,7 @@
 void motorencodetestline(){
     Encoder Eleft(p27, p28), Eright(p30, p29);
     MainMotor mleft(p24,p23), mright(p21,p22);
-    Serial pc(USBTX, USBRX);
+    //Serial pc(USBTX, USBRX);
     const float speed = 0.2;
     const float dspeed = 0.1;