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gbr1gbr1
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Merge pull request #1 from gbr1/dev
0.0.1
2 parents 3de9e0a + c2835b4 commit 5124940

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‎Arduino_Robot_Firmware.cpp‎

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#include "Arduino_Robot_Firmware.h"
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Arduino_Robot_Firmware::Arduino_Robot_Firmware(){
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// I2C internal bus
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wire = new TwoWire(I2C_1_SDA, I2C_1_SCL);
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// RGB leds
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led1 = new RGBled(LED_1_RED,LED_1_GREEN,LED_1_BLUE);
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led2 = new RGBled(LED_2_RED,LED_2_GREEN,LED_2_BLUE);
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// motors
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motor_left = new DCmotor(MOTOR_LEFT_A,MOTOR_LEFT_A_CH, MOTOR_LEFT_B, MOTOR_LEFT_B_CH,true);
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motor_right = new DCmotor(MOTOR_RIGHT_A,MOTOR_RIGHT_A_CH,MOTOR_RIGHT_B,MOTOR_RIGHT_B_CH);
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// encoders
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encoder_left = new Encoder(TIM3);
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encoder_right = new Encoder(TIM5);
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// color sensor
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apds9960 = new APDS9960(*wire,APDS_INT);
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}
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int Arduino_Robot_Firmware::begin(){
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// setup alternate functions
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AF_Tim2_pwm();
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AF_Tim5_pins_encoder();
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AF_Tim3_pins_encoder();
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// turn off leds
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led1->clear();
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led2->clear();
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motor_left->begin();
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motor_right->begin();
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motor_left->stop();
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motor_right->stop();
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encoder_left->begin();
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encoder_right->begin();
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wire->begin();
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beginAPDS();
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return 0;
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}
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/******************************************************************************************************/
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/* Color sensor, APDS9960 */
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/******************************************************************************************************/
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int Arduino_Robot_Firmware::beginAPDS(){
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pinMode(APDS_LED,OUTPUT);
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enableIlluminator();
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apds9960->begin();
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return 0;
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}
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void Arduino_Robot_Firmware::updateAPDS(){
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if (apds9960->proximityAvailable()){
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bottom_proximity=apds9960->readProximity();
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}
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//digitalWrite(APDS_LED,HIGH);
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if (apds9960->colorAvailable()){
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apds9960->readColor(bottom_red,bottom_green,bottom_blue,bottom_clear);
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}
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//digitalWrite(APDS_LED,LOW);
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}
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void Arduino_Robot_Firmware::setIlluminator(uint8_t value){
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digitalWrite(APDS_LED,value);
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}
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void Arduino_Robot_Firmware::enableIlluminator(){
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setIlluminator(HIGH);
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}
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void Arduino_Robot_Firmware::disableIlluminator(){
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setIlluminator(LOW);
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}
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int Arduino_Robot_Firmware::getRed(){
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return bottom_red;
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}
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int Arduino_Robot_Firmware::getGreen(){
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return bottom_green;
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}
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int Arduino_Robot_Firmware::getBlue(){
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return bottom_blue;
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}
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int Arduino_Robot_Firmware::getProximity(){
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return bottom_proximity;
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}

‎Arduino_Robot_Firmware.h‎

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#ifndef __ARDUINO_ROBOT_FIRMWARE_H__
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#define __ARDUINO_ROBOT_FIRMWARE_H__
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#include "Arduino.h"
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#include "pinout_definitions.h"
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#include "HAL_custom_init.h"
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#include "encoder.h"
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#include "rgb_led.h"
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#include "dcmotor.h"
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#include "motor_control.h"
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#include "Arduino_APDS9960.h"
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class Arduino_Robot_Firmware{
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private:
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APDS9960 * apds9960;
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int bottom_red, bottom_green, bottom_blue, bottom_clear, bottom_proximity;
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public:
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RGBled * led1;
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RGBled * led2;
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DCmotor * motor_left;
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DCmotor * motor_right;
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Encoder * encoder_left;
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Encoder * encoder_right;
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TwoWire * wire;
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Arduino_Robot_Firmware();
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int begin();
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// Color sensor, APDS9960
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int beginAPDS(); // initialize all components required by color detection
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void updateAPDS(); // refresh data
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void setIlluminator(uint8_t value); // set white leds
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void enableIlluminator(); // white leds on
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void disableIlluminator(); // white leds off
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int getRed(); // red value 0-255
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int getGreen(); // green value 0-255
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int getBlue(); // blue value 0-255
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int getProximity(); // proximity value 0-127
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};
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#endif

‎HAL_custom_init.h‎

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#ifndef __HAL_CUSTOM_INIT_H__
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#define __HAL_CUSTOM_INIT_H__
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// Set PA_0 and PA_1 as alternate function 1 -> TIM2
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/*
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void AF_Tim2_pins_encoder(){
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GPIO_InitTypeDef GPIO_InitStruct;
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__HAL_RCC_TIM2_CLK_ENABLE();
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__HAL_RCC_GPIOA_CLK_ENABLE();
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GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
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GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
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HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
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}
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*/
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/***************************************************************/
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/* Encoder */
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/***************************************************************/
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// Set PA_0 and PA_1 as alternate function 1 -> TIM5
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void AF_Tim5_pins_encoder(){
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GPIO_InitTypeDef GPIO_InitStruct;
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__HAL_RCC_TIM5_CLK_ENABLE();
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__HAL_RCC_GPIOA_CLK_ENABLE();
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GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
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GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Alternate = GPIO_AF2_TIM5;
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HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
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}
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// Set PC_6 and PC_7 as alternate function 2 -> TIM3
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void AF_Tim3_pins_encoder(){
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GPIO_InitTypeDef GPIO_InitStruct;
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__HAL_RCC_TIM3_CLK_ENABLE();
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__HAL_RCC_GPIOC_CLK_ENABLE();
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GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_7;
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GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
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HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
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}
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/***************************************************************/
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/* PWM */
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/***************************************************************/
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void AF_Tim2_pwm(){
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GPIO_InitTypeDef GPIO_InitStructA;
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__HAL_RCC_TIM2_CLK_ENABLE();
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__HAL_RCC_GPIOA_CLK_ENABLE();
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GPIO_InitStructA.Pin = GPIO_PIN_2|GPIO_PIN_3|GPIO_PIN_15;
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GPIO_InitStructA.Mode = GPIO_MODE_AF_PP;
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GPIO_InitStructA.Pull = GPIO_NOPULL;
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GPIO_InitStructA.Alternate = GPIO_AF1_TIM2;
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HAL_GPIO_Init(GPIOA, &GPIO_InitStructA);
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GPIO_InitTypeDef GPIO_InitStructB;
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__HAL_RCC_TIM2_CLK_ENABLE();
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__HAL_RCC_GPIOB_CLK_ENABLE();
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GPIO_InitStructB.Pin = GPIO_PIN_3;
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GPIO_InitStructB.Mode = GPIO_MODE_AF_PP;
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GPIO_InitStructB.Pull = GPIO_NOPULL;
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GPIO_InitStructB.Alternate = GPIO_AF1_TIM2;
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HAL_GPIO_Init(GPIOB, &GPIO_InitStructB);
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}
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#endif

‎dcmotor.h‎

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#ifndef __DC_MOTOR_H__
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#define __DC_MOTOR_H__
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#include "Arduino.h"
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class DCmotor{
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private:
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uint32_t pinA;
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uint32_t chA;
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uint32_t pinB;
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uint32_t chB;
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TIM_HandleTypeDef htimX;
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HardwareTimer * timX;
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uint32_t frequency;
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void pwmWrite(uint32_t ch, uint32_t value){
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timX->setCaptureCompare(ch, value, RESOLUTION_12B_COMPARE_FORMAT);
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}
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public:
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DCmotor(const uint32_t _pinA, const uint32_t _chA, const uint32_t _pinB, const uint32_t _chB,
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const bool flip=false, TIM_TypeDef * _tim = TIM2, const uint32_t _frequency=20000){
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if (!flip){
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pinA=_pinA;
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chA=_chA;
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pinB=_pinB;
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chB=_chB;
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}
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else{
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pinA=_pinB;
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chA=_chB;
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pinB=_pinA;
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chB=_chA;
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}
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htimX.Instance = _tim;
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frequency=_frequency;
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pinMode(MOTORS_ENABLE,OUTPUT);
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}
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void begin(){
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timX = new HardwareTimer(htimX.Instance);
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timX->setPWM(chA, pinA, frequency, 0);
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timX->setPWM(chB, pinB, frequency, 0);
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digitalWrite(MOTORS_ENABLE,HIGH);
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}
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void disable(){
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digitalWrite(MOTORS_ENABLE,LOW);
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}
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void setSpeed(const int speed){
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if (speed>=0){
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pwmWrite(chA,speed);
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pwmWrite(chB,0);
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}
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else{
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pwmWrite(chA,0);
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pwmWrite(chB,-speed);
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}
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}
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void stop(){
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setSpeed(0);
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}
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};
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#endif

‎encoder.h‎

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#ifndef __ENCODER_H__
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#define __ENCODER_H__
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#include "Arduino.h"
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class Encoder{
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private:
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TIM_HandleTypeDef htimX;
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bool flip;
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public:
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Encoder(TIM_TypeDef * _tim, bool _flip=false){
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htimX.Instance = _tim;
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flip = _flip;
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}
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void begin(){
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//htimX.Instance= TIM2;
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htimX.Init.Prescaler=0;
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htimX.Init.CounterMode= TIM_COUNTERMODE_UP;
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htimX.Init.Period = 65535;
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htimX.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
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TIM_Encoder_InitTypeDef encoder_config;
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encoder_config.EncoderMode = TIM_ENCODERMODE_TI2;
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if (flip){
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encoder_config.IC1Polarity=TIM_ICPOLARITY_FALLING;
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}
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else{
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encoder_config.IC1Polarity=TIM_ICPOLARITY_RISING;
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}
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encoder_config.IC1Selection=TIM_ICSELECTION_DIRECTTI;
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encoder_config.IC1Prescaler=TIM_ICPSC_DIV1;
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encoder_config.IC1Filter=0;
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encoder_config.IC2Polarity=TIM_ICPOLARITY_RISING;
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encoder_config.IC2Selection=TIM_ICSELECTION_DIRECTTI;
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encoder_config.IC2Prescaler=TIM_ICPSC_DIV1;
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encoder_config.IC2Filter=0;
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HAL_TIM_Encoder_Init(&htimX, &encoder_config);
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HAL_TIM_Encoder_Start(&htimX, TIM_CHANNEL_ALL);
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}
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int getCount(){
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return int16_t(__HAL_TIM_GET_COUNTER(&htimX)); // it gives the sign
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}
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void reset(){
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htimX.Instance->CNT=0;
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}
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};
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#endif

‎examples/.DS_Store‎

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