Arduino_Robot/Robot.cpp at master · Christiaan2/Arduino_Robot · GitHub

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//
//
//

#include "Robot.h"

Robot::Robot()
	:timerDrive(1000 / DRIVEFREQ), oscilloscope(8), collisionAvoidance(11, 12, 145, &propulsion),
	timerScoop(1000/SCOOPFREQ), timerACS(1000/ACSFREQ)
{
}

void Robot::run()
{
	oscilloscope.checkButton();

	if (timerACS.fire())
	{
		collisionAvoidance.run();
		/*
		if (progress == 0)
		{
			propulsion.setForwards(540);
		}
		else if (progress == 1)
		{
			propulsion.setBackwards(540);
		}
		else if (progress == 2)
		{
			propulsion.setLeftRotation(100);
		}
		else if (progress == 3)
		{
			propulsion.setRightRotation(100);
		}
		else
		{
			delay(500);
		}
		*/
	}

	if (timerDrive.fire())
	{
		int motorSpeed = analogRead(POTPIN) / 45;
		if (motorSpeed <= 1)
		{
			propulsion.reset();
			//propulsion.setProgress(0);
		}
		else if (propulsion.getAllowSpeedControll())
		{
			propulsion.setSpeed(motorSpeed);
		}

		if (propulsion.drive())
		{
			propulsion.incrementProgress();
			propulsion.reset();
		}
	}

	if (oscilloscope.getSampling_on() && timerScoop.fire())
	{
		noInterrupts();
		oscilloscope.setSensorReading(0, int(propulsion.getPointerToMotorL()->getPointerToEncoder()->getEncoderTicks()));
		oscilloscope.setSensorReading(1, int(propulsion.getPointerToMotorR()->getPointerToEncoder()->getEncoderTicks()));
		oscilloscope.setSensorReading(2, propulsion.getPointerToMotorL()->getPWM_val());
		oscilloscope.setSensorReading(3, propulsion.getPointerToMotorR()->getPWM_val());
		oscilloscope.setSensorReading(4, propulsion.getProgress());
		oscilloscope.setSensorReading(5, propulsion.getPointerToMotorL()->getPointerToEncoder()->getSpeed());
		oscilloscope.setSensorReading(6, propulsion.getPointerToMotorR()->getPointerToEncoder()->getSpeed());
		oscilloscope.setTime();
		interrupts();
		oscilloscope.sendData();
	}
}

void Robot::initialize()
{
	oscilloscope.initializeSerial();
	collisionAvoidance.initialize(9);
}

Motor* Robot::getPointerToMotorL()
{
	return propulsion.getPointerToMotorL();
}

Motor* Robot::getPointerToMotorR()
{
	return propulsion.getPointerToMotorR();
}