Revision 5:56a5fdd373c9, committed 2013-04-04

Comitter:

madcowswe

Date:

Thu Apr 04 14:44:14 2013 +0000

Parent:

4:1be0f6c6ceae

Child:

6:995b3679155f

Child:

8:69bdf20cb525

Commit message:

Removed e stop button code, as power will be used through the button instead.

Changed in this revision

--- a/Actuators/Actuator.cpp	Wed Apr 03 17:54:53 2013 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,9 +0,0 @@
-
-// Eurobot13 Actuator.cpp
-
-#include "Actuator.h"
-
-
-Actuator *Actuator::Head = NULL;
-
-

--- a/Actuators/Actuator.h	Wed Apr 03 17:54:53 2013 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,40 +0,0 @@
-#ifndef __Actuator_h__
-#define __Actuator_h__
-// Eurobot13 Actuator.h
-
-#include "mbed.h"
-
-class Actuator {
-    private:
-    static Actuator *Head; // Actuator.cpp
-    Actuator *next;
-    
-    public:
-    Actuator(){
-        next = NULL;
-        if (Head == NULL){
-            Head = this;
-        } else {
-            Actuator* nxt = Head;
-            for(;nxt->next != NULL; nxt = nxt->next);
-            nxt->next = this;
-        }
-    } 
-    
-    virtual void halt (void) = 0;
-    
-    static void haltandCatchFire(void){
-        DigitalOut myled(LED1);
-        myled = 1;
-        //halt
-        for(Actuator* nxt = Head; nxt != NULL; nxt = nxt->next){
-            nxt->halt();
-        }   
-        //catchFire
-        while(true);
-    }
-
-
-};
-
-#endif
\ No newline at end of file

--- a/Actuators/Arms/Arm.h	Wed Apr 03 17:54:53 2013 +0000
+++ b/Actuators/Arms/Arm.h	Thu Apr 04 14:44:14 2013 +0000
@@ -3,9 +3,8 @@
 
 #include "mbed.h"
 #include "Servo.h"
-#include "Actuators/Actuator.h" 
 
-class Arm : public Servo, public Actuator
+class Arm : public Servo
 {
 private:
     bool updirn;
@@ -34,8 +33,8 @@
     }
     
     virtual void halt() { // servo applies no force
-        DigitalOut myled(LED3);
-        myled = 1;
+        //DigitalOut myled(LED3);
+        //myled = 1;
         _pwm = 0;
     }
 };

--- a/Actuators/MainMotors/MainMotor.h	Wed Apr 03 17:54:53 2013 +0000
+++ b/Actuators/MainMotors/MainMotor.h	Thu Apr 04 14:44:14 2013 +0000
@@ -2,9 +2,8 @@
 // Eurobot13 MainMotor.h
 
 #include "mbed.h"
-#include "Actuators/Actuator.h" 
 
-class MainMotor: public Actuator{
+class MainMotor{
     private:
     PwmOut PWM1;
     PwmOut PWM2;
@@ -28,8 +27,8 @@
     }
     
     virtual void halt (void){
-        DigitalOut myled(LED2);
-        myled = 1;
+        //DigitalOut myled(LED2);
+        //myled = 1;
         PWM1 = 0;
         PWM2 = 0;
     }

--- a/Others/EmergencyStop/EmergencyStop.h	Wed Apr 03 17:54:53 2013 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,24 +0,0 @@
-
-// Eurobot13 EmergencyStop.h
-
-#include "mbed.h"
-#include "Actuators/Actuator.h" 
-
-class EmergencyStop : public InterruptIn{
-    private:
-    public:
-    EmergencyStop   ( PinName interuptPin
-                    , void (*risefunction)(void) = Actuator::haltandCatchFire
-                    , void (*fallfunction)(void) = Actuator::haltandCatchFire
-                    ) 
-                    : InterruptIn(interuptPin)
-                    {
-    if (risefunction != NULL){
-        rise(risefunction);
-        }
-        
-    if (fallfunction != NULL){
-        fall(fallfunction); 
-        }
-    }
-};
\ No newline at end of file

--- a/Sensors/Colour/Colour.h	Wed Apr 03 17:54:53 2013 +0000
+++ b/Sensors/Colour/Colour.h	Thu Apr 04 14:44:14 2013 +0000
@@ -1,6 +1,9 @@
 
 // Eurobot13 Colour.h
 
+//red led use 45ohm
+//blue led use 10ohm
+
 #include "mbed.h"
 #include "Led.h"
 #include "Phototransistor.h"

--- a/Sensors/Encoders/Encoder.h	Wed Apr 03 17:54:53 2013 +0000
+++ b/Sensors/Encoders/Encoder.h	Thu Apr 04 14:44:14 2013 +0000
@@ -13,7 +13,7 @@
     Encoder(PinName pGreen, PinName pYellow)
         : green(pGreen)
         , yellow(pYellow)
-        , wheel(pGreen,pYellow, NC, 624)
+        , wheel(pGreen,pYellow, NC, 0, QEI::X4_ENCODING)
         {
     green.mode(PullUp);
     yellow.mode(PullUp);

--- a/main.cpp	Wed Apr 03 17:54:53 2013 +0000
+++ b/main.cpp	Thu Apr 04 14:44:14 2013 +0000
@@ -7,7 +7,6 @@
 
 #include "Actuators/Arms/Arm.h"
 #include "Actuators/MainMotors/MainMotor.h"
-#include "Others/EmergencyStop/EmergencyStop.h"
 #include "Sensors/Encoders/Encoder.h"
 #include "Sensors/Colour/Colour.h"
 #include "Sensors/Colour/Led.h"
@@ -28,16 +27,13 @@
 void colourtest();
 
 int main() {
-/*  Setup EmergencyStop button for actuators.
-    Derive all actuators from the pure virtual actuator class!
-*/  EmergencyStop EStop(p8); 
     
 /*****************
  *   Test Code   *
  *****************/
     //motortest();
     //encodertest();
-    //motorencodetest();
+    motorencodetest();
     //motorencodetestline();
     //motorsandservostest();
     //armtest();
@@ -45,7 +41,7 @@
     //ledtest();
     //phototransistortest();
     //ledphototransistortest();
-    colourtest(); // Red SnR too low
+    //colourtest(); // Red SnR too low
 }
 
 void colourtest(){