Derek Calland / Mbed 2 deprecated Roaming

This is my first attempt using an mbed. My project will be to build a rover that uses a compass, collision detection and ultimately GPS to try and be as free thinking as possible. Having great fun so far and learning practical things all the time. The mbed is a great learning platform and the community fantastic.

Dependencies:   TextLCD mbed SRF08

main.cpp

Committer:
Degs
Date:
2011-04-01
Revision:
0:b62ee1c95bd3

File content as of revision 0:b62ee1c95bd3:

#include "mbed.h"
#include "SRF08.h"
#include "TextLCD.h"

//This program uses the Magnevation Dual Driver board that I originally
//had for the OOPIC. I have the board driving HN-GH12-2217Y geared motors
//type HSIANG NENG.

SRF08 srf08(p9, p10, 0xE0);  // Define SDA, SCL pin and I2C address

PwmOut MotorRightWheel(p23); // pwm
PwmOut MotorLeftWheel(p25);  // pwm

DigitalOut DirectionR=p27;//Sets the direction pin on the Magnevation
DigitalOut DirectionL=p29;
DigitalOut BrakeR=p28;//Releases the Brake pin on the Magnevation
DigitalOut BrakeL=p30;

TextLCD lcd(p15, p16, p17, p18, p19, p20);

float RangeReading() {
    float value;
    value = srf08.read();
    return (value);
}

float DriveForwardFullSpeed() {
    float s;
    DirectionR=0;//Set the direction Right motor
    DirectionL=1;//Set the direction Left motor
    BrakeR = BrakeL = 1;//Take Brake OFF
    for (s= 0.0; s < 1.0 ; s += 0.01) {
        MotorRightWheel=s;
        MotorLeftWheel=s;
        wait(0.2);
    }
    return (s);
}

float DriveReverse() {
    float s =0;
    DirectionR=1;//Set the direction Right motor
    DirectionL=0;//Set the direction Left motor
    BrakeR = BrakeL = 1; //Take Brake OFF
    for (float s= 0.0; s < 1.0 ; s += 0.01) {
        MotorRightWheel=s;
        MotorLeftWheel=s;
        wait(0.2);
    }
    wait(0.2);// Slow down and stop
    for (float s = 1.0; s > 0.0; s -= 0.01) {
        MotorRightWheel=s;
        MotorLeftWheel=s;
        wait(0.2);
    }
    BrakeR = BrakeL = 0; //Put Brake ON
    return (s);
}

float ZeroSpeedForward() {
    float s =0;
    DirectionR=0;//Set the direction Right motor
    DirectionL=1;//Set the direction Left motor
    for (float s = 1.0; s > 0.0; s -= 0.01) {
        MotorRightWheel=s;
        MotorLeftWheel=s;
        wait(0.2);
    }
    BrakeR = BrakeL = 0; //Put Brake ON
    return (s);
}

int main() {
    float distance, speed = 0;
    while (1) {
        lcd.cls();
        distance = RangeReading();
        lcd.printf("Range: %2.f cm\n",distance);
        wait(0.2);
        if (distance >100  && speed <0.1) {
            lcd.printf("Forward \n");
            speed = DriveForwardFullSpeed();
        }
        distance = RangeReading();
        lcd.printf("Range: %2.f cm\n",distance);
        if  (distance < 100 && speed >0.5) {
            speed = ZeroSpeedForward();
        }
        distance = RangeReading();
        if (distance > 0.0 && speed == 0.0) {
            lcd.printf("Reverse \n");
            speed = DriveReverse();
        }
        wait (0.5);
    }
}