Andrew Oyaide / StudentBuggyProject

Starting point for the student buggy project

Dependencies:   microbit

Fork of microbit-hello-world by micro:bit

Files at this revision

API Documentation at this revision

Comitter:
OyaideA
Date:
Sat Aug 12 21:46:41 2017 +0000
Parent:
5:a33f016d5962
Commit message:
Updated the comments in Buggy.h to explain what each function does

Changed in this revision

Buggy.cpp Show annotated file Show diff for this revision Revisions of this file
Buggy.h Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
--- a/Buggy.cpp	Mon Aug 07 18:57:55 2017 +0000
+++ b/Buggy.cpp	Sat Aug 12 21:46:41 2017 +0000
@@ -529,7 +529,7 @@
         //Display 0
         uBit.display.printAsync(Counter);
         //Run the motor test
-        RunBasicBuggyMotorTest(800, 1000, 1000);
+        RunBasicBuggyMotorTest(500, 1000, 1000);
     }
 }
 
--- a/Buggy.h	Mon Aug 07 18:57:55 2017 +0000
+++ b/Buggy.h	Sat Aug 12 21:46:41 2017 +0000
@@ -15,21 +15,44 @@
 #define ROTATE_ANTICLOCKWISE    3
 
 
-
+/*This command should be called when we want to stop the buggy because of a
+detected obstacle*/
 void PauseLastCommand();
+/*This command should be called once we are sure that the detected obstacle is
+no longer present and the buggy will complete the last command it was executing
+before it was paused*/
 void ContinueLastCommand();
+/*This command should be polled whilst the buggy is moving. It returns a true
+when the last command has been completed and is also responsible for stopping the
+buggy once the last command has been completed.  Without polling this command, 
+the buggy will continue to run*/
 bool hasLastCommandCompleted();
+/*This command initialises the microbit runtime, sets up the buttons to receive events
+and kicks off the sonar pulses.*/
 void InitialiseBuggy();
+/*This function returns the latest sonar timing in microseconds. The user needs
+to convert this to a distance measure at some point*/
 unsigned int GetSonarTime_us();
-
+/*Test function to test the anti-collision function.  The buggy will run forward
+at the input motor Voltage for a maximum of Time_ms, but will pause when it detects
+that an obstacle is within a sonar echo of SonarTime_us microseconds.  This is here
+as a tip for the user to know how to use the above functions.*/
 void TestAntiCollision(unsigned int Voltage, unsigned int Time_ms, unsigned int SonarTime_us);
-
+/*Test function to assist the user in relating a motor voltage to the speed that
+the motor travels at. Pushing button A will toggle the test to different settings
+for motor speed and direction. Pushing button B then starts the test after a
+3, 2, 1 countdown.*/
 void MotorSpeedCharacterisation(void);
-
+/*Function to test the buggy after a build. The buggy will first use the LEDs
+to display the sonar result for 10 secs, the drive forward, backwards, rotate
+clockwise, then anti-clockwise*/
 void SelfTest();
-
+/*Function to print the sonar echo in ms using the LEDs and if connected to a PC,
+also using the COMMS port (serial output). This can be used to characterise the
+ultrasonic sensor*/
 void DisplaySonarTiming();
 
+//Export of the microbit runtime instance.
 extern MicroBit uBit;
 
 
--- a/main.cpp	Mon Aug 07 18:57:55 2017 +0000
+++ b/main.cpp	Sat Aug 12 21:46:41 2017 +0000
@@ -32,10 +32,10 @@
     InitialiseBuggy();
     
     //Run self test forever
-    //SelfTest();
+    SelfTest();
     //Print the sonar time
     //DisplaySonarTiming();
-    MotorSpeedCharacterisation();
+    //MotorSpeedCharacterisation();