Cooper Liu
Colour sensors calibrated
Dependencies: mbed-rtos mbed Servo QEI
Fork of
ICRSEurobot13
by 
Thomas Branch
Revision 0:200635fa1b08, committed 2013-03-29
- Comitter:
- twighk
- Date:
- Fri Mar 29 11:35:34 2013 +0000
- Child:
- 1:8119211eae14
- Commit message:
- Main motors and motor encoders
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Actuators/MainMotor/MainMotor.h Fri Mar 29 11:35:34 2013 +0000
@@ -0,0 +1,29 @@
+
+// Eurobot13 MainMotor.h
+
+#include "mbed.h"
+
+class MainMotor{
+ private:
+ PwmOut PWM1;
+ PwmOut PWM2;
+
+ public:
+ MainMotor(PinName pin1, PinName pin2) : PWM1(pin1), PWM2(pin2){
+ }
+
+ void operator()(float in){
+ power(in);
+ }
+
+ void power(float power){
+ if( power > 0 ){
+ PWM1 = power;
+ PWM2 = 0;
+ } else {
+ PWM1 = 0;
+ PWM2 = -power;
+ }
+ }
+
+};
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Actuators/Servo/Servo.h Fri Mar 29 11:35:34 2013 +0000
@@ -0,0 +1,30 @@
+
+// Eurobot13 Servo.h
+
+#include "mbed.h"
+
+class Servo{
+ private:
+ PwmOut PWM;
+
+ public:
+ Servo(PinName pin1) : PWM(pin1){
+ }
+
+ void operator()(float in){
+ PWM = in;
+ }
+
+ void clockwise() { // full lock clockwise
+ PWM = .135;
+ }
+
+ void anticlockwise() { // full lock anticlockwise
+ PWM = .025;
+ }
+
+ void relax() { // servo applies no force
+ PWM = 0;
+ }
+
+};
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Sensors/Encoder/Encoder.h Fri Mar 29 11:35:34 2013 +0000
@@ -0,0 +1,29 @@
+
+// Eurobot13 Encoder.cpp
+
+#include "QEI.h"
+#include "mbed.h"
+
+class Encoder{
+private:
+ DigitalIn green, yellow;
+ QEI wheel;
+
+public:
+ Encoder(PinName pGreen, PinName pYellow)
+ : green(pGreen)
+ , yellow(pYellow)
+ , wheel(pGreen,pYellow, NC, 624)
+ {
+ green.mode(PullUp);
+ yellow.mode(PullUp);
+ }
+
+ int getPoint(void){
+ return wheel.getPulses();
+ }
+
+ void reset (void){
+ return wheel.reset();
+ }
+};
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Sensors/Encoder/QEI.lib Fri Mar 29 11:35:34 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/aberk/code/QEI/#5c2ad81551aa
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Mar 29 11:35:34 2013 +0000
@@ -0,0 +1,127 @@
+
+// Eurobot13 main.cpp
+
+#include "mbed.h"
+
+#include "Actuators/MainMotor/MainMotor.h"
+#include "Sensors/Encoder/Encoder.h"
+#include "Actuators/Servo/Servo.h"
+
+PwmOut Led(LED1);
+
+void motortest();
+void encodertest();
+void motorencodetest();
+void motorencodetestline();
+void motorsandservostest();
+
+int main() {
+ //motortest();
+ //encodertest();
+ //motorencodetest();
+ motorencodetestline();
+ //motorsandservostest();
+}
+
+void motorsandservostest(){
+ Encoder Eleft(p27, p28), Eright(p30, p29);
+ MainMotor mleft(p24,p23), mright(p21,p22);
+ Servo sTop(p25), sBottom(p26);
+ Serial pc(USBTX, USBRX);
+ const float speed = 0.0;
+ const float dspeed = 0.0;
+
+ Timer servoTimer;
+ mleft(speed); mright(speed);
+ servoTimer.start();
+ while (true){
+ pc.printf("Position is: %i \t %i \n\r", Eleft.getPoint(), Eright.getPoint());
+ if (Eleft.getPoint() < Eright.getPoint()){
+ mleft(speed);
+ mright(speed - dspeed);
+ } else {
+ mright(speed);
+ mleft(speed - dspeed);
+ }
+ if (servoTimer.read() < 1){
+ sTop.clockwise();
+ } else if (servoTimer.read() < 4) {
+ sTop.relax();
+ } else if (servoTimer.read() < 5) {
+ sBottom.anticlockwise();
+ //Led=1;
+ } else if (servoTimer.read() < 6) {
+ sBottom.clockwise();
+ //Led=0;
+ } else if (servoTimer.read() < 7) {
+ sBottom.relax();
+ }else {
+ sTop.anticlockwise();
+ }
+ if (servoTimer.read() >= 9) servoTimer.reset();
+ }
+}
+
+void motorencodetestline(){
+ Encoder Eleft(p27, p28), Eright(p30, p29);
+ MainMotor mleft(p24,p23), mright(p21,p22);
+ Serial pc(USBTX, USBRX);
+ const float speed = 0.2;
+ const float dspeed = 0.1;
+
+ mleft(speed); mright(speed);
+ while (true){
+ //left 27 cm = 113 -> 0.239 cm/pulse
+ //right 27 cm = 72 -> 0.375 cm/pulse
+ pc.printf("Position is: %i \t %i \n\r", (int)(Eleft.getPoint()*0.239), (int)(Eright.getPoint()*0.375));
+ if (Eleft.getPoint()*0.239 < Eright.getPoint()*0.375){
+ mright(speed - dspeed);
+ } else {
+ mright(speed + dspeed);
+ }
+ }
+
+}
+
+void motorencodetest(){
+ Encoder Eleft(p28, p27), Eright(p29, p30);
+ MainMotor mleft(p23,p24), mright(p22,p21);
+ Serial pc(USBTX, USBRX);
+
+ const float speed = -0.3;
+ const int enc = -38;
+ while(true){
+ mleft(speed); mright(0);
+ while(Eleft.getPoint()>enc){
+ pc.printf("Position is: %i \t %i \n\r", Eleft.getPoint(), Eright.getPoint());
+ }
+ Eleft.reset(); Eright.reset();
+ mleft(0); mright(speed);
+ while(Eright.getPoint()>enc){
+ pc.printf("Position is: %i \t %i \n\r", Eleft.getPoint(), Eright.getPoint());
+ }
+ Eleft.reset(); Eright.reset();
+ }
+}
+
+void encodertest(){
+ Encoder E1(p28, p27);
+ Encoder E2(p29, p30);
+ Serial pc(USBTX, USBRX);
+ while(1){
+ wait(0.1);
+ pc.printf("Position is: %i \t %i \n\r", E1.getPoint(), E2.getPoint());
+ }
+
+}
+void motortest(){
+ MainMotor mright(p22,p21), mleft(p23,p24);
+ while(1) {
+ wait(1);
+ mleft(0.8); mright(0.8);
+ wait(1);
+ mleft(-0.2); mright(0.2);
+ wait(1);
+ mleft(0); mright(0);
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Fri Mar 29 11:35:34 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/5e5da4a5990b \ No newline at end of file