Diff: robot.cpp

Revision:

0:8a2dd255c508

Child:

1:a6728adaf7e7

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/robot.cpp	Sat Nov 26 17:28:53 2016 +0000
@@ -0,0 +1,71 @@
+#include "robot.h"
+
+Timer mbed_uptime;
+int timer_minute_count;
+Ticker timer_ticker;
+volatile char i2c_lock = 0;
+
+Led led;
+Sensors sensors;
+Motors motors;
+I2C primary_i2c (p9, p10);
+AnalogIn vin_battery(p17);
+Serial pc(USBTX,USBRX);
+
+
+// Public functions
+
+void Robot::init(){
+    
+    //Start the uptime timer
+    timer_minute_count = 0;
+    timer_ticker.attach(this,&Robot::_update_minutes, 300);  //Update minutes resets the uptime timer every 5 minutes to prevent stop overruns
+    mbed_uptime.start();   
+    
+    //Setup the primary i2c bus to 400kHz baud rate
+    primary_i2c.frequency(400000);
+
+    //Send a reset signal to the LED driver
+    pc.printf("Resetting LED driver    :  ");
+    if(led.reset_led_driver() != 0)pc.printf("FAILED\n");
+    else pc.printf("SUCCESS\n");
+    wait(0.05);
+
+    //Send the initialisation signal to the LED driver
+    pc.printf("Initialising LED driver :  ");
+    if(led.init_led_driver() != 0)pc.printf("FAILED\n");
+    else pc.printf("SUCCESS\n");
+    
+    wait(0.05);
+
+    //Start the Sharp sensor ticker
+    pc.printf("Starting distance sensor ticker...\n");
+    sensors.start_sensor_ticker();
+    
+    wait(0.05);
+    
+    //Setup the h-bridge drivers
+    pc.printf("Starting the H-bridge drivers...\n");
+    motors.init();
+}
+
+float Robot::get_uptime(void)
+{
+    return mbed_uptime.read() + (timer_minute_count * 60);
+}
+
+float Robot::get_battery_voltage(void)
+{
+    // Voltage is measured through a 7.5V zener diode followed by a 1:1 potential divider
+    
+    float measure_voltage = ZENER_VOLTAGE + (vin_battery.read() * BATTERY_PD_MULTIPLIER);
+    return measure_voltage;
+}
+
+// Private functions
+
+void Robot::_update_minutes()
+{
+    mbed_uptime.reset();
+    timer_minute_count += 5;
+}
\ No newline at end of file