Aggiunti esempi, funzioni per servo

[rover] / libraries / rover / rover.cpp

diff --git a/libraries/rover/rover.cpp b/libraries/rover/rover.cpp
index d95fe065190912808ab355e57e2843965a97bd73..a5989b6dd44f0cf1a127f9bd2ed97df4d8eb1e55 100644 (file)
--- a/libraries/rover/rover.cpp
+++ b/libraries/rover/rover.cpp
@@ -1,5 +1,5 @@
 /*
-  Rover 
+  Rover
 
 Autore: Andrea Manni
 
@@ -13,7 +13,7 @@ Licenza:    GPLv3
 
 #define dEBUG
 
-// Configurazione con OUTPUT digitali
+// Configurazione parametri: variabili GLOBALI
 // motor one
 const int enA = 6;
 const int in1 = 7;
@@ -26,27 +26,41 @@ const int in4 = 3;
 byte speedB = 255;
 
 // Servo vars
-int pos = 0;    // variable to store the servo position 
+int pos = 0;    // variable to store the servo position
 const byte servoPIN =9 ;
 const byte middle = 90; // Centratura servo
-const int spausa = 30; // Pausa movimenti servo
+const int spausa = 10; // Pausa movimenti servo
+const byte sx = 10;  // Min SX
+const byte dx = 170; // Maz DX
 Servo myservo; // Non c'e' bisogno di extern se e' dichiarato in questo scope
 
+// Ultrasuoni
+const byte trigPIN = 11;
+const byte echoPIN= 12;
+const byte ledPIN = 13;
+long duration;
+int distance;
+const int minDistance = 10;
+
 ////////////////////////
 // Funzioni:
 //
 void abilita() {
-// Abilita i PINs come OUTPUTS
+// Abilita i PINs come OUTPUTS e attacca un servo 
+// Motors
     pinMode(enA, OUTPUT);
     pinMode(in1, OUTPUT);
     pinMode(in2, OUTPUT);
     pinMode(enB, OUTPUT);
     pinMode(in3, OUTPUT);
     pinMode(in4, OUTPUT);
-
-
+// Servo
     pinMode(servoPIN, OUTPUT);
-    myservo.attach(servoPIN);
+    myservo.attach(servoPIN); //la libreria servo deve essere sempre inclusa
+// Ultrasonic
+       pinMode(trigPIN, OUTPUT);
+    pinMode(echoPIN, INPUT);
+    pinMode(ledPIN, OUTPUT);
 }
 
 
@@ -118,18 +132,102 @@ void stopB() {
     digitalWrite(enB,LOW);
 }
 
+
+// Entrambi i motori
+void avanti() {
+    // Drive ahead: funzione composita
+    forwardA() ;
+    forwardB() ;
+}
+void indietro() {
+    // Drive backward: funzione composita
+    backwardA();
+    backwardB();
+}
+void giraSX() {
+    // Gira a DX
+    forwardB() ;
+    backwardA();
+}
+void giraDX()  {
+    // Gira a DX
+    forwardA() ;
+    backwardB();
+}
+void stop()  {
+    stopA();
+    stopB();
+}
+
+
+
 // Servo
-void turnDX() {
+void servoDX() {
     // TurnDX
-    myservo.write(170);
+    while (pos < dx) {
+        myservo.write(pos++);
+        delay(spausa);
+    }
 }
-    
-void turnSX() {
+
+void servoSX() {
     // TurnSX
-    myservo.write(10);
+    while (pos > sx) {
+        myservo.write(pos--);
+        delay(spausa);
+    }
 }
 
-void turnMiddle() { 
-    // TurnDX
-    myservo.write(middle);
+void servoMiddle() {
+    // Middle
+    while (pos > middle) {
+        myservo.write(pos--);
+        delay(spausa);
+    }
+    while (pos < middle) {
+        myservo.write(pos++);
+        delay(spausa);
+    }
+}
+
+
+// Ultrasuoni
+boolean distanceCheck() {
+// Verifica se la distanza di un oggetto e' minore di minDistance
+    digitalWrite(trigPIN, LOW);  // Prepare for ping
+    delayMicroseconds(2); //
+    digitalWrite(trigPIN, HIGH); // Send a ping
+    delayMicroseconds(10); //
+    digitalWrite(trigPIN, LOW); // Set down ping
+    duration = pulseIn(echoPIN, HIGH);
+    //distance = (duration / 2) / 29.1; // Speed is ~300m/s,
+    // so it takes ~29.1 milliseconds for a cm.
+    distance = (duration / 58.2); // Atmegas are not found of divisions
+    // Distance is half of (out + back)
+#ifdef DEBUG
+Serial.print("Distanza oggetto: ");    
+Serial.println(distance);
+#endif
+    if (distance < minDistance) {  // This is where the LED On/Off happens
+        return 1;
+    }
+    else {
+        return 0;
+    }
+}
+
+int distanceMonitor() {
+// Ritorna la distanza di un oggetto in cm
+    digitalWrite(trigPIN, LOW);  // Prepare for ping
+    delayMicroseconds(2); //
+    digitalWrite(trigPIN, HIGH); // Send a ping
+    delayMicroseconds(10); //
+    digitalWrite(trigPIN, LOW); // Set down ping
+    duration = pulseIn(echoPIN, HIGH);
+    //distance = (duration / 2) / 29.1; // Speed is ~300m/s,
+    // so it takes ~29.1 milliseconds for a cm.
+    distance = (duration / 58.2); // Atmegas are not found of divisions
+    // Distance is half of (out + back)
+
+    return distance;
 }