robot class

Author: gbr1

Arduino_Robot_Firmware.h

@@ -9,6 +9,42 @@
 #include "dcmotor.h"
 #include "motor_control.h"
 
+class Arduino_Robot_Firmware{
+    private:
+        
+    public:
+        RGBled * led1;
+        RGBled * led2;
+        DCmotor * motor_left;
+        DCmotor * motor_right;
 
 
+        Arduino_Robot_Firmware(){
+            led1 = new RGBled(LED_1_RED,LED_1_GREEN,LED_1_BLUE);
+            led2 = new RGBled(LED_2_RED,LED_2_GREEN,LED_2_BLUE);
+
+            motor_left = new DCmotor(MOTOR_LEFT_A,MOTOR_LEFT_A_CH, MOTOR_LEFT_B, MOTOR_LEFT_B_CH,true);
+            motor_right = new DCmotor(MOTOR_RIGHT_A,MOTOR_RIGHT_A_CH,MOTOR_RIGHT_B,MOTOR_RIGHT_B_CH);
+
+        }
+
+        int begin(){
+            // setup alternate functions
+            AF_Tim2_pwm();
+            AF_Tim5_pins_encoder();
+            AF_Tim3_pins_encoder();
+
+            // turn off leds
+            led1->clear();
+            led2->clear();
+
+            motor_left->begin();
+            motor_right->begin();
+            motor_left->stop();
+            motor_right->stop();
+
+            return 0;
+        }
+};
+
 #endif

examples/motor/motor.ino

@@ -3,14 +3,36 @@
 Encoder enc_right(TIM5);
 
 DCmotor motor_right(MOTOR_RIGHT_A,MOTOR_RIGHT_A_CH,MOTOR_RIGHT_B,MOTOR_RIGHT_B_CH);
+DCmotor motor_left(MOTOR_LEFT_A,MOTOR_LEFT_A_CH, MOTOR_LEFT_B, MOTOR_LEFT_B_CH);
 
-MotorControl right(&motor_right,0,0,0);
+//MotorControl right(&motor_right,&enc_right,0,0,0);
 
 void setup(){
-    enc_right.begin();
     motor_right.begin();
+    motor_left.begin();
 }
 
 void loop(){
-    right.test();
+    for (int i=0; i<4096; i++){
+        motor_right.setSpeed(i);
+        motor_left.setSpeed(i);
+        delay(1);
+    }
+    for (int i=4095; i>0; i--){
+        motor_right.setSpeed(i);
+        motor_left.setSpeed(i);
+        delay(1);
+    }
+    delay(1000);
+    for (int i=0; i<4096; i++){
+        motor_right.setSpeed(i);
+        motor_left.setSpeed(-i);
+        delay(1);
+    }
+    for (int i=4095; i>0; i--){
+        motor_right.setSpeed(i);
+        motor_left.setSpeed(-i);
+        delay(1);
+    }
+    delay(1000);
 }

examples/simple/simple.ino

@@ -0,0 +1,14 @@
+#include "Arduino_Robot_Firmware.h"
+
+Arduino_Robot_Firmware robot;
+
+void setup(){
+    robot.begin();
+}
+
+void loop(){
+    robot.led1->setRed(1);
+    delay(1000);
+    robot.led1->setRed(0);
+    delay(1000);
+}

examples/test/test.ino

@@ -1,7 +1,7 @@
 #include "Arduino_Robot_Firmware.h"
 
 Encoder enc_right(TIM5);
-//Encoder enc_left(TIM3);
+Encoder enc_left(TIM3);
 
 DCmotor motor_right(MOTOR_RIGHT_A,MOTOR_RIGHT_A_CH,MOTOR_RIGHT_B,MOTOR_RIGHT_B_CH);
 DCmotor motor_left(MOTOR_LEFT_A,MOTOR_LEFT_A_CH,MOTOR_LEFT_B,MOTOR_LEFT_B_CH);
@@ -14,10 +14,10 @@ void setup(){
     AF_Tim2_pwm();
     Serial.println("af5");
     AF_Tim5_pins_encoder();
-    //AF_Tim3_pins_encoder();
+    AF_Tim3_pins_encoder();
     Serial.println("encoder");
     enc_right.begin();
-    //enc_left.begin();
+    enc_left.begin();
     Serial.println("motor right");
     motor_right.begin();
     Serial.println("motor left");
@@ -30,7 +30,7 @@ void loop(){
   while(k<4096){
     Serial.print(enc_right.getCount());
     Serial.print("  ");
-    //Serial.print(enc_left.getCount());
+    Serial.print(enc_left.getCount());
     Serial.print("  ");
     Serial.print(k);
     Serial.print("\n");

motor_control.h

@@ -25,6 +25,8 @@ class MotorControl{
         float ctrl_d;
         float actuation;
 
+        float prev_error;
+
         DCmotor * motor;
         Encoder * encoder;
     public:

pinout_definitions.h

@@ -3,20 +3,21 @@
 
 
 // Right Motor
-#define ENC_RIGHT_TIMER TIM2
+#define ENC_RIGHT_TIMER TIM5
 #define ENC_RIGHT_A PA0
 #define ENC_RIGHT_B PA1
 #define MOTOR_RIGHT_A PA2
 #define MOTOR_RIGHT_A_CH 3
-#define MOTOR_RIGHT_B PA3
-#define MOTOR_RIGHT_B_CH 4
+#define MOTOR_RIGHT_B PA15
+#define MOTOR_RIGHT_B_CH 1
+
 
 // Left Motor
 #define ENC_LEFT_TIMER TIM3
 #define ENC_LEFT_A PC6
 #define ENC_LEFT_B PC7
-#define MOTOR_LEFT_A PA15
-#define MOTOR_LEFT_A_CH 1
+#define MOTOR_LEFT_A PA3
+#define MOTOR_LEFT_A_CH 4
 #define MOTOR_LEFT_B PB3
 #define MOTOR_LEFT_B_CH 2
 
@@ -34,5 +35,9 @@
 #define SERVO_A PC9
 #define SERVO_B PA8
 
+// APDS9960
+#define LED_APDS PB6
+
+
 
 #endif

rgb_led.h

@@ -19,7 +19,6 @@ class RGBled{
             digitalWrite(R,LOW);
             digitalWrite(G,LOW);
             digitalWrite(B,LOW);
-
         }
 
         void setRed(const uint32_t red){