Revision 5:01882c3de2dc, committed 2014-11-12

Comitter:

John Wilkey

Date:

Wed Nov 12 23:48:26 2014 -0500

Parent:

4:13c13a098d2b

Child:

6:00b7198f0b51

Commit message:

Small additions to skeleton code

Changed in this revision

--- a/control.c	Thu Nov 13 01:46:51 2014 +0000
+++ b/control.c	Wed Nov 12 23:48:26 2014 -0500
@@ -1,3 +1,43 @@
 /**
  * @file    control.c
- */
\ No newline at end of file
+ * @brief   Motor control functions implemented from project.h
+ * @author  John Wilkey
+ */
+
+#include "project.h"
+extern pi;
+extern out_pins;
+
+int forward(float amt, float spd)
+{
+    pi.forward(spd);
+    wait(amt);
+    return EXIT_SUCCESS;
+}
+
+int backward(float amt, float spd)
+{
+    pi.backward(spd);
+    wait(amt);
+    return EXIT_SUCCESS;
+}
+
+int right(float deg)
+{
+    pi.right(TURN_SPEED);
+    wait(deg/360);
+    return EXIT_SUCCESS;
+}
+
+int left(float deg)
+{
+    pi.left(TURN_SPEED);
+    wait(deg/360);
+    return EXIT_SUCCESS;
+}
+
+void pretty_print(char* msg)
+{
+    pi.locate(0,1);
+    pi.printf(msg);
+}

--- a/driver.c	Thu Nov 13 01:46:51 2014 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,21 +0,0 @@
-/**
- * @file    driver.c
- * @brief   Basic driver program for our robot's controller logic. 
- *
- * Maybe add lots of stuff here or maybe split it off into
- * multiple subfiles?
- *
- * @author  John Wilkey
- */
- #include "project.h"
- 
- /**
-  * @brief Entry point. Main loop.
-  */
- int main()
- {
-       printf("This doesn't do anything yet...\n");
-       return 0;
- }
- 
- 
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.c	Wed Nov 12 23:48:26 2014 -0500
@@ -0,0 +1,25 @@
+/**
+ * @file    driver.c
+ * @brief   Basic driver program for our robot's controller logic. 
+ *
+ * Maybe add lots of stuff here or maybe split it off into
+ * multiple subfiles?
+ *
+ * @author  John Wilkey
+ */
+#include "project.h"
+
+/** 
+ * These are global data Used externally in all other files 
+ */
+m3pi            pi;
+digi_out_pins   out_pins;
+
+/**
+ * @brief Entry point. Main loop.
+ */
+int main()
+{
+    pretty_print("PiCO");
+    return EXIT_SUCCESS;
+}

--- a/project.h	Thu Nov 13 01:46:51 2014 +0000
+++ b/project.h	Wed Nov 12 23:48:26 2014 -0500
@@ -9,32 +9,53 @@
 #define _PROJECT_H
 
 #include <stdio.h>
+#include "mbed.h"
 #include "m3pi.h"
+#define TURN_SPEED 0.25
+#define ERR_SUCCESS 0
+#define ERR_FAILURE 1
+
+/**
+ * @brief   Provides access to the digital outputs on the mbed controller.
+ *
+ * Note that by default these output pins are hardwired to the 6 LEDs that 
+ * stripe the development extension board. 
+ */
+typedef struct {
+    DigitalOut pin15(p15),
+    DigitalOut pin15(p15),
+    DigitalOut pin15(p15),
+    DigitalOut pin15(p16),
+    DigitalOut pin15(p17),
+    DigitalOut pin15(p18),
+    DigitalOut pin15(p19),
+    DigitalOut pin15(p20)
+} digi_out_pins;
 
 /**
  * @brief Driver forward.
  *
  * @param[in]   amt     Amount to drive forward.
  * @param[in]   spd     Drive speed.
- * @return              Distance driven.
+ * @return              Success or failure. 
  */
-float foward(float amt, float spd);
+int foward(float amt, float spd);
 
 /**
  * @brief Drive backward.
  *
  * @param[in]   amt     Amount to drive backward.
  * @param[in]   spd     Drive speed.
- * @return              Distance driven.
+ * @return              Success or failure. 
  */
-float backward(float amt);
+int backward(float amt);
 
 /**
  * @brief Turn right.
  *
  * @param[in]   deg     Desired final turn angle from starting position.
  * @param[in]   spd     Desired turning speed.
- * @return              0 if successful, or an error condition.
+ * @return              Success or failure. 
  */
 int right(float deg);
 
@@ -43,9 +64,9 @@
  *
  * @param[in]   deg     Desired final turn angle from starting position.
  * @param[in]   spd     Desired turning speed.
- * @return              0 if successful, or an error condition.
+ * @return              Success or failure. 
  */
-int left (float def);
+int left (float deg);
 
 /**
  * @brief Controller decision logic.
@@ -53,6 +74,13 @@
  * Decide what to do next based on the status of the drawing so far.
  *
  */
- void next_action();
+void next_action();
 
-#endif
\ No newline at end of file
+/**
+ * @brief Print a formatted message to the LCD
+ */
+void pretty_print(char* msg);
+
+
+
+#endif