GHI Electronics / Mbed 2 deprecated Official_mBot

The preloaded firmware shipped on the mBot.

Dependencies:   mbed

Fork of Official_mBot by Fred Parker

mBot_lib/mBot.h@0:865d42c46692, 2014-11-25 (annotated)

Committer:
jeffknaggs
Date:
Tue Nov 25 14:34:47 2014 +0000
Revision:
0:865d42c46692
Initial commit.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jeffknaggs 0:865d42c46692 1 /*
jeffknaggs 0:865d42c46692 2 ** This software can be freely used, even comercially, as highlighted in the license.
jeffknaggs 0:865d42c46692 3 **
jeffknaggs 0:865d42c46692 4 ** Copyright 2014 GHI Electronics, LLC
jeffknaggs 0:865d42c46692 5 **
jeffknaggs 0:865d42c46692 6 ** Licensed under the Apache License, Version 2.0 (the "License");
jeffknaggs 0:865d42c46692 7 ** you may not use this file except in compliance with the License.
jeffknaggs 0:865d42c46692 8 ** You may obtain a copy of the License at
jeffknaggs 0:865d42c46692 9 **
jeffknaggs 0:865d42c46692 10 ** http://www.apache.org/licenses/LICENSE-2.0
jeffknaggs 0:865d42c46692 11 **
jeffknaggs 0:865d42c46692 12 ** Unless required by applicable law or agreed to in writing, software
jeffknaggs 0:865d42c46692 13 ** distributed under the License is distributed on an "AS IS" BASIS,
jeffknaggs 0:865d42c46692 14 ** WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
jeffknaggs 0:865d42c46692 15 ** See the License for the specific language governing permissions and
jeffknaggs 0:865d42c46692 16 ** limitations under the License.
jeffknaggs 0:865d42c46692 17 **
jeffknaggs 0:865d42c46692 18 **/
jeffknaggs 0:865d42c46692 19
jeffknaggs 0:865d42c46692 20 #pragma once
jeffknaggs 0:865d42c46692 21 #include <string>
jeffknaggs 0:865d42c46692 22 #include "mbed.h"
jeffknaggs 0:865d42c46692 23
jeffknaggs 0:865d42c46692 24
jeffknaggs 0:865d42c46692 25 class mBot
jeffknaggs 0:865d42c46692 26 {
jeffknaggs 0:865d42c46692 27
jeffknaggs 0:865d42c46692 28 public: // constructors, enums
jeffknaggs 0:865d42c46692 29 mBot();
jeffknaggs 0:865d42c46692 30
jeffknaggs 0:865d42c46692 31
jeffknaggs 0:865d42c46692 32 typedef enum
jeffknaggs 0:865d42c46692 33 {
jeffknaggs 0:865d42c46692 34 /// <summary>
jeffknaggs 0:865d42c46692 35 /// Represents the left sensor.
jeffknaggs 0:865d42c46692 36 /// </summary>
jeffknaggs 0:865d42c46692 37 Left,
jeffknaggs 0:865d42c46692 38
jeffknaggs 0:865d42c46692 39 /// <summary>
jeffknaggs 0:865d42c46692 40 /// Represents the right sensor.
jeffknaggs 0:865d42c46692 41 /// </summary>
jeffknaggs 0:865d42c46692 42 Right
jeffknaggs 0:865d42c46692 43 } ReflectiveSensors;
jeffknaggs 0:865d42c46692 44
jeffknaggs 0:865d42c46692 45 private: // fields
jeffknaggs 0:865d42c46692 46 static const float MOTOR_BASE_PERIOD = 0.00001; // 100KHz
jeffknaggs 0:865d42c46692 47
jeffknaggs 0:865d42c46692 48 static PwmOut *leftMotor;
jeffknaggs 0:865d42c46692 49 static PwmOut *rightMotor;
jeffknaggs 0:865d42c46692 50
jeffknaggs 0:865d42c46692 51 static DigitalOut *leftMotorDirectionCtrl_1;
jeffknaggs 0:865d42c46692 52 static DigitalOut *leftMotorDirectionCtrl_2;
jeffknaggs 0:865d42c46692 53
jeffknaggs 0:865d42c46692 54 static DigitalOut *rightMotorDirectionCtrl_1;
jeffknaggs 0:865d42c46692 55 static DigitalOut *rightMotorDirectionCtrl_2;
jeffknaggs 0:865d42c46692 56
jeffknaggs 0:865d42c46692 57 static bool leftMotorInverted;
jeffknaggs 0:865d42c46692 58 static bool rightMotorInverted;
jeffknaggs 0:865d42c46692 59
jeffknaggs 0:865d42c46692 60 static AnalogIn *leftSensor;
jeffknaggs 0:865d42c46692 61 static AnalogIn *rightSensor;
jeffknaggs 0:865d42c46692 62 static DigitalOut *leftIRLED;
jeffknaggs 0:865d42c46692 63 static DigitalOut *rightIRLED;
jeffknaggs 0:865d42c46692 64
jeffknaggs 0:865d42c46692 65
jeffknaggs 0:865d42c46692 66 public: // methods ....
jeffknaggs 0:865d42c46692 67
jeffknaggs 0:865d42c46692 68 /// <summary>
jeffknaggs 0:865d42c46692 69 /// Gets the reading from a reflective sensor between 0 and 1024 (10 bit resolution). The higher the number,
jeffknaggs 0:865d42c46692 70 /// the more reflection that was detected. Nearby objects reflect more than far objects.
jeffknaggs 0:865d42c46692 71 /// </summary>
jeffknaggs 0:865d42c46692 72 /// <param name="sensor">The sensor to read from.</param>
jeffknaggs 0:865d42c46692 73 static float GetReflectiveReading(ReflectiveSensors sensor);
jeffknaggs 0:865d42c46692 74
jeffknaggs 0:865d42c46692 75 /// <summary>
jeffknaggs 0:865d42c46692 76 /// Turns the reflective sensors on or off to save power (1 = on, 0 = off). They are on by default.
jeffknaggs 0:865d42c46692 77 /// </summary>
jeffknaggs 0:865d42c46692 78 static void SetReflectiveSensorState(int state);
jeffknaggs 0:865d42c46692 79
jeffknaggs 0:865d42c46692 80
jeffknaggs 0:865d42c46692 81 /// <summary>
jeffknaggs 0:865d42c46692 82 /// The reflective sensors on the mBot.
jeffknaggs 0:865d42c46692 83 /// </summary>
jeffknaggs 0:865d42c46692 84 /// <summary>
jeffknaggs 0:865d42c46692 85 /// Sets the period and duration that the buzzer will buzz for.
jeffknaggs 0:865d42c46692 86 /// </summary>
jeffknaggs 0:865d42c46692 87 /// <param name="period">The period that the buzzer will buzz in hertz.</param>
jeffknaggs 0:865d42c46692 88 /// <param name="duration">The duration the buzzer will buzz for in milliseconds.</param>
jeffknaggs 0:865d42c46692 89 /// <param name="dutyCycle">The duty cycle for the buzzer.</param>
jeffknaggs 0:865d42c46692 90 /// <remarks>If duration is 0, the buzzer will buzz indefinitely. If it is non-zero, then mBot call will block for as many milliseconds as specified in duration, then return.</remarks>
jeffknaggs 0:865d42c46692 91
jeffknaggs 0:865d42c46692 92 /// <summary>
jeffknaggs 0:865d42c46692 93 /// Sets the speed of the motor. -100 is full speed backwards, 100 is full speed forward, and 0 is stopped.
jeffknaggs 0:865d42c46692 94 /// </summary>
jeffknaggs 0:865d42c46692 95 /// <param name="leftSpeed">The new speed of the left motor.</param>
jeffknaggs 0:865d42c46692 96 /// <param name="rightSpeed">The new speed of the right motor.</param>
jeffknaggs 0:865d42c46692 97 static void SetMotorSpeed(int leftSpeed, int rightSpeed);
jeffknaggs 0:865d42c46692 98
jeffknaggs 0:865d42c46692 99 /// <summary>
jeffknaggs 0:865d42c46692 100 /// Change the wheel directions (useful if you want to treat the batteries as the back of the robot and the wheels as the front).
jeffknaggs 0:865d42c46692 101 /// </summary>
jeffknaggs 0:865d42c46692 102 /// <param name="invertLeft">true then inverted.</param>
jeffknaggs 0:865d42c46692 103 /// <param name="invertRight">true then inverted.</param>
jeffknaggs 0:865d42c46692 104 static void SetMotorInversion(bool invertLeft, bool invertRight);
jeffknaggs 0:865d42c46692 105
jeffknaggs 0:865d42c46692 106
jeffknaggs 0:865d42c46692 107 private:
jeffknaggs 0:865d42c46692 108 static void SetSpeed(PwmOut *motor, DigitalOut *directionCtrl_1, DigitalOut *directionCtrl_2, int speed); //, bool isLeft);
jeffknaggs 0:865d42c46692 109 };
jeffknaggs 0:865d42c46692 110