Revision 8:c5dccd557aab, committed 2015-06-01

Comitter:

sillevl

Date:

Mon Jun 01 10:13:18 2015 +0000

Parent:

7:a72215b1910b

Commit message:

renamed files to mbed standard

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Logic.cpp	Mon Jun 01 10:13:18 2015 +0000
@@ -0,0 +1,163 @@
+#include "Logic.h"
+
+// Some defines
+#define MAX_SPEED 100
+#define MAX_SENSOR 100
+#define MAX_REAL_SPEED 0.75
+
+#define MIN 0
+
+// Static scope variables
+static m3pi m3pi;
+
+// Static scope variables for keeping internal state
+static int internal_speed = 0;          // [-100, +100]
+static int internal_turnspeed = 0;     // [-100, +100]
+static int internal_p = 0;
+static int internal_i = 0;
+static int internal_d = 0;
+static int internal_previous_pos_of_line = 0;
+static int internal_led_state = 0;
+
+void drive(int speed)
+{
+    if (speed > MAX_SPEED || speed < -MAX_SPEED) {
+        error("Speed out of range");
+        return;
+    }
+
+    internal_speed = speed;
+
+    if (speed == 0) {
+        m3pi.stop();
+    } else if (speed > 0) {
+        m3pi.forward(MAX_REAL_SPEED*speed/MAX_SPEED);
+    } else if (speed < 0) {
+        m3pi.backward(MAX_REAL_SPEED*(-speed)/MAX_SPEED);
+    }
+}
+
+void turn(int turnspeed)
+{
+    if (turnspeed > MAX_SPEED || turnspeed < -MAX_SPEED) {
+        error("Turn out of range");
+        return;
+    }
+    internal_turnspeed = turnspeed;
+
+    float left = internal_speed;
+    float right = internal_speed;
+
+    left -= turnspeed;
+    right += turnspeed;
+
+    if (right < MIN)
+        right = MIN;
+    else if (right > MAX_SPEED)
+        right = MAX_SPEED;
+
+    if (left < MIN)
+        left = MIN;
+    else if (left > MAX_SPEED)
+        left = MAX_SPEED;
+    m3pi.left_motor(MAX_REAL_SPEED*left/MAX_SPEED);
+    m3pi.right_motor(MAX_REAL_SPEED*right/MAX_SPEED);
+}
+
+void stop(void)
+{
+    m3pi.stop();
+}
+void sensor_calibrate(void)
+{
+    m3pi.sensor_auto_calibrate();
+}
+
+int line_sensor(void)
+{
+    // Get position of line [-1.0, +1.0]
+    float pos = m3pi.line_position();
+    return ((int)(pos * MAX_SENSOR));
+}
+
+void pid_init(int p, int i, int d)
+{
+    internal_p = p;
+    internal_i = i;
+    internal_d = d;
+}
+
+int pid_turn(int line_position)
+{
+    float derivative, proportional, integral = 0;
+    float power;
+
+    proportional = line_position / 100.0;
+
+    // Compute the derivative
+    derivative = line_position - internal_previous_pos_of_line;
+
+    // Compute the integral
+    integral += proportional;
+
+    // Remember the last position.
+    internal_previous_pos_of_line = line_position;
+
+    // Compute the power
+    power = (proportional * (internal_p) ) + (integral*(internal_i)) + (derivative*(internal_d)) ;
+
+    power = power * MAX_SPEED;
+    if (power < -MAX_SPEED)
+        power = -MAX_SPEED;
+    else if (power > MAX_SPEED)
+        power = MAX_SPEED;
+    return power ;
+}
+
+void show_stats(void)
+{
+    m3pi.cls();          // Clear display
+
+    // Display speed
+    m3pi.locate(0, 0);
+    m3pi.printf("S%d", internal_speed);
+
+    // Display turn
+    m3pi.locate(4,0);
+    m3pi.printf("T%d", internal_turnspeed);
+
+    // Display line
+    m3pi.locate(0, 1);
+    int line = line_sensor();
+    m3pi.printf("POS %d", line);
+}
+
+void show_name(char * name)
+{
+    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("%s", name);
+}
+
+void await(int milliseconds)
+{
+    wait_ms(milliseconds);
+}
+
+void led(LedIndex i, LedState state)
+{
+    if(state == LED_ON) {
+        internal_led_state |= (1 << i);
+    } else if(state == LED_OFF) {
+        internal_led_state &= ~(1 << i);
+    } else if(state == LED_TOGGLE) {
+        internal_led_state ^= (1 << i);
+    } else {
+        error("Illegal LED state");
+    }
+    m3pi.leds(internal_led_state);
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Logic.h	Mon Jun 01 10:13:18 2015 +0000
@@ -0,0 +1,112 @@
+#ifndef H_LOGIC
+#define H_LOGIC
+
+#include "mbed.h"
+#include "m3pi.h"
+
+typedef enum {
+   LED_1 = 0,
+   LED_2 = 1,
+   LED_3 = 2,
+   LED_4 = 3,
+   LED_5 = 4,
+   LED_6 = 5,
+   LED_7 = 6,
+   LED_8 = 7
+} LedIndex;
+
+typedef enum {
+    LED_ON = 0,
+    LED_OFF = 1,
+    LED_TOGGLE = 2
+} LedState;
+
+
+/**
+ * Drive the robot forward or backward.
+ * If the robot was turning it will stop turning and drive in a straight line.
+ *
+ * @param 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);
+
+/**
+ * Turn the robot left or right while driving.
+ *
+ * @param turnspeed The percentage with which to turn the robot.
+ *          Can range from -100 (full throttle left) to +100 (full throttle right).
+ */
+void turn(int turnspeed);
+
+/**
+ * Stop the robot.
+ */
+void stop(void);
+
+/**
+ * Calibrate the line follow sensors.
+ * Take note that the robot should be placed over the line
+ * before this function is called and that it will rotate to
+ * both sides.
+ */
+void sensor_calibrate(void);
+
+/**
+ * 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);
+
+/**
+ * Initialize the PID drive control with
+ * the P, I and D factors.
+ *
+ * @param p The P factor
+ * @param i The I factor
+ * @param d The D factor
+ */
+void pid_init(int p, int i, int d);
+
+/**
+ * Determine PID turnspeed with which the robot should
+ * turn to follow the line at the given position.
+ *
+ * @param line_position The position of the line in a range of [-100, +100]
+ *
+ * @return The turnspeed in a range of [-100, +100]
+ */
+int pid_turn(int line_position);
+
+/**
+  *Show speed, turn and sensor data on the LCD
+  */
+void show_stats();
+
+/**
+ * Shows the name of the robot on the display.
+ *
+ * @param name C character string (null-terminated) with the name of the robot (max 8 chars)
+ */
+void show_name(char * name);
+
+
+/**
+  * Turn on, off or toggle a specific LED
+  * @param i the LED number LED_0 .. LED_7
+  * @param state the LED state LED_ON, LED_OFF, LED_TOGGLE 
+  * @example led(LED_0, LED_ON); turns LED 0 on.
+  */
+void led(LedIndex i, LedState state);
+
+/**
+ * Wait for an approximate number of milliseconds.
+ *
+ * @param milliseconds The number of milliseconds to wait.
+ */
+void await(int milliseconds);
+
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/RacingRobots.cpp	Mon Jun 01 10:13:18 2015 +0000
@@ -0,0 +1,28 @@
+#include "Logic.h"
+
+// External functions called from our library
+extern void init(void);
+extern void loop(void);
+
+/*
+ * System initialization.
+ * Also calls external init() function.
+ */
+void _init(void) {
+    // DO our init here
+
+    init(); // Students init
+}
+
+/*
+ * Entry point.
+ * Also calls external loop function.
+ */
+int main (void) {
+    // Initialize system
+    _init();
+
+    while (true) {
+        loop();     // Students loop
+    }
+}
\ No newline at end of file

--- a/racing_robots.cpp	Wed Feb 25 15:56:14 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,28 +0,0 @@
-#include "robot_logic.h"
-
-// External functions called from our library
-extern void init(void);
-extern void loop(void);
-
-/*
- * System initialization.
- * Also calls external init() function.
- */
-void _init(void) {
-    // DO our init here
-
-    init(); // Students init
-}
-
-/*
- * Entry point.
- * Also calls external loop function.
- */
-int main (void) {
-    // Initialize system
-    _init();
-
-    while (true) {
-        loop();     // Students loop
-    }
-}
\ No newline at end of file

--- a/robot_logic.cpp	Wed Feb 25 15:56:14 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,163 +0,0 @@
-#include "robot_logic.h"
-
-// Some defines
-#define MAX_SPEED 100
-#define MAX_SENSOR 100
-#define MAX_REAL_SPEED 0.75
-
-#define MIN 0
-
-// Static scope variables
-static m3pi m3pi;
-
-// Static scope variables for keeping internal state
-static int internal_speed = 0;          // [-100, +100]
-static int internal_turnspeed = 0;     // [-100, +100]
-static int internal_p = 0;
-static int internal_i = 0;
-static int internal_d = 0;
-static int internal_previous_pos_of_line = 0;
-static int internal_led_state = 0;
-
-void drive(int speed)
-{
-    if (speed > MAX_SPEED || speed < -MAX_SPEED) {
-        error("Speed out of range");
-        return;
-    }
-
-    internal_speed = speed;
-
-    if (speed == 0) {
-        m3pi.stop();
-    } else if (speed > 0) {
-        m3pi.forward(MAX_REAL_SPEED*speed/MAX_SPEED);
-    } else if (speed < 0) {
-        m3pi.backward(MAX_REAL_SPEED*(-speed)/MAX_SPEED);
-    }
-}
-
-void turn(int turnspeed)
-{
-    if (turnspeed > MAX_SPEED || turnspeed < -MAX_SPEED) {
-        error("Turn out of range");
-        return;
-    }
-    internal_turnspeed = turnspeed;
-
-    float left = internal_speed;
-    float right = internal_speed;
-
-    left -= turnspeed;
-    right += turnspeed;
-
-    if (right < MIN)
-        right = MIN;
-    else if (right > MAX_SPEED)
-        right = MAX_SPEED;
-
-    if (left < MIN)
-        left = MIN;
-    else if (left > MAX_SPEED)
-        left = MAX_SPEED;
-    m3pi.left_motor(MAX_REAL_SPEED*left/MAX_SPEED);
-    m3pi.right_motor(MAX_REAL_SPEED*right/MAX_SPEED);
-}
-
-void stop(void)
-{
-    m3pi.stop();
-}
-void sensor_calibrate(void)
-{
-    m3pi.sensor_auto_calibrate();
-}
-
-int line_sensor(void)
-{
-    // Get position of line [-1.0, +1.0]
-    float pos = m3pi.line_position();
-    return ((int)(pos * MAX_SENSOR));
-}
-
-void pid_init(int p, int i, int d)
-{
-    internal_p = p;
-    internal_i = i;
-    internal_d = d;
-}
-
-int pid_turn(int line_position)
-{
-    float derivative, proportional, integral = 0;
-    float power;
-
-    proportional = line_position / 100.0;
-
-    // Compute the derivative
-    derivative = line_position - internal_previous_pos_of_line;
-
-    // Compute the integral
-    integral += proportional;
-
-    // Remember the last position.
-    internal_previous_pos_of_line = line_position;
-
-    // Compute the power
-    power = (proportional * (internal_p) ) + (integral*(internal_i)) + (derivative*(internal_d)) ;
-
-    power = power * MAX_SPEED;
-    if (power < -MAX_SPEED)
-        power = -MAX_SPEED;
-    else if (power > MAX_SPEED)
-        power = MAX_SPEED;
-    return power ;
-}
-
-void show_stats(void)
-{
-    m3pi.cls();          // Clear display
-
-    // Display speed
-    m3pi.locate(0, 0);
-    m3pi.printf("S%d", internal_speed);
-
-    // Display turn
-    m3pi.locate(4,0);
-    m3pi.printf("T%d", internal_turnspeed);
-
-    // Display line
-    m3pi.locate(0, 1);
-    int line = line_sensor();
-    m3pi.printf("POS %d", line);
-}
-
-void show_name(char * name)
-{
-    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("%s", name);
-}
-
-void await(int milliseconds)
-{
-    wait_ms(milliseconds);
-}
-
-void led(LedIndex i, LedState state)
-{
-    if(state == LED_ON) {
-        internal_led_state |= (1 << i);
-    } else if(state == LED_OFF) {
-        internal_led_state &= ~(1 << i);
-    } else if(state == LED_TOGGLE) {
-        internal_led_state ^= (1 << i);
-    } else {
-        error("Illegal LED state");
-    }
-    m3pi.leds(internal_led_state);
-}
\ No newline at end of file

--- a/robot_logic.h	Wed Feb 25 15:56:14 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,112 +0,0 @@
-#ifndef H_ROBOT_LOGIC
-#define H_ROBOT_LOGIC
-
-#include "mbed.h"
-#include "m3pi.h"
-
-typedef enum {
-   LED_1 = 0,
-   LED_2 = 1,
-   LED_3 = 2,
-   LED_4 = 3,
-   LED_5 = 4,
-   LED_6 = 5,
-   LED_7 = 6,
-   LED_8 = 7
-} LedIndex;
-
-typedef enum {
-    LED_ON = 0,
-    LED_OFF = 1,
-    LED_TOGGLE = 2
-} LedState;
-
-
-/**
- * Drive the robot forward or backward.
- * If the robot was turning it will stop turning and drive in a straight line.
- *
- * @param 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);
-
-/**
- * Turn the robot left or right while driving.
- *
- * @param turnspeed The percentage with which to turn the robot.
- *          Can range from -100 (full throttle left) to +100 (full throttle right).
- */
-void turn(int turnspeed);
-
-/**
- * Stop the robot.
- */
-void stop(void);
-
-/**
- * Calibrate the line follow sensors.
- * Take note that the robot should be placed over the line
- * before this function is called and that it will rotate to
- * both sides.
- */
-void sensor_calibrate(void);
-
-/**
- * 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);
-
-/**
- * Initialize the PID drive control with
- * the P, I and D factors.
- *
- * @param p The P factor
- * @param i The I factor
- * @param d The D factor
- */
-void pid_init(int p, int i, int d);
-
-/**
- * Determine PID turnspeed with which the robot should
- * turn to follow the line at the given position.
- *
- * @param line_position The position of the line in a range of [-100, +100]
- *
- * @return The turnspeed in a range of [-100, +100]
- */
-int pid_turn(int line_position);
-
-/**
-  *Show speed, turn and sensor data on the LCD
-  */
-void show_stats();
-
-/**
- * Shows the name of the robot on the display.
- *
- * @param name C character string (null-terminated) with the name of the robot (max 8 chars)
- */
-void show_name(char * name);
-
-
-/**
-  * Turn on, off or toggle a specific LED
-  * @param i the LED number LED_0 .. LED_7
-  * @param state the LED state LED_ON, LED_OFF, LED_TOGGLE 
-  * @example led(LED_0, LED_ON); turns LED 0 on.
-  */
-void led(LedIndex i, LedState state);
-
-/**
- * Wait for an approximate number of milliseconds.
- *
- * @param milliseconds The number of milliseconds to wait.
- */
-void await(int milliseconds);
-
-#endif
\ No newline at end of file