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Added bumper switches to the front of the robot, on one each side.

Browse Source 
IOIOTruckValues.java
Added bumper switch port vales

IOIOTruckManager.java
Added 2 new digital inputs for them bumper switches. 
Added if blocks to loop() to check the state of the switches. If either
one is pressed, the robot will stop.
This commit is contained in:
Ricky Barrette
2012-01-28 15:17:20 -05:00
parent f7e550ab52
commit 92419a398a
2 changed files with 33 additions and 2 deletions
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25
IOIOTruck/src/com/TwentyCodes/android/IOIOTruck/IOIOTruckManager.java
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@@ -6,6 +6,7 @@
*/ */
package com.TwentyCodes.android.IOIOTruck; package com.TwentyCodes.android.IOIOTruck;
import ioio.lib.api.DigitalInput;
import ioio.lib.api.DigitalOutput; import ioio.lib.api.DigitalOutput;
import ioio.lib.api.IOIO; import ioio.lib.api.IOIO;
import ioio.lib.api.PwmOutput; import ioio.lib.api.PwmOutput;
@@ -39,6 +40,8 @@ public class IOIOTruckManager extends IOIOManager {
private TB6612FNGMotorDriver mRightMotor; private TB6612FNGMotorDriver mRightMotor;
private PwmOutput mShifter; private PwmOutput mShifter;
private DigitalOutput mMotorDriverStandBy; private DigitalOutput mMotorDriverStandBy;
private DigitalInput mLeftFrontBumber;
private DigitalInput mRightFrontBumber;
/** /**
* Creates a new IOIOTruckThread * Creates a new IOIOTruckThread
@@ -111,6 +114,12 @@ public class IOIOTruckManager extends IOIOManager {
//enable the motor driver //enable the motor driver
mMotorDriverStandBy = ioio.openDigitalOutput(IOIOTruckValues.MOTOR_DRIVER_STANDBY, true); mMotorDriverStandBy = ioio.openDigitalOutput(IOIOTruckValues.MOTOR_DRIVER_STANDBY, true);
/*
* bumper switches in the front
*/
mLeftFrontBumber = ioio.openDigitalInput(IOIOTruckValues.LEFT_FRONT_BUMPER_PORT);
mRightFrontBumber = ioio.openDigitalInput(IOIOTruckValues.RIGHT_FRONT_BUMBER_PORT);
} }
/** /**
@@ -128,7 +137,7 @@ public class IOIOTruckManager extends IOIOManager {
* @see com.TwentyCodes.android.ioio.IOIOThread#onUpdate() * @see com.TwentyCodes.android.ioio.IOIOThread#onUpdate()
*/ */
@Override @Override
public void loop() throws ConnectionLostException { public void loop() throws ConnectionLostException, InterruptedException {
this.setStatLedEnabled(mStatLedValue); this.setStatLedEnabled(mStatLedValue);
@@ -136,6 +145,19 @@ public class IOIOTruckManager extends IOIOManager {
mMotorDriverStandBy.write(mStatLedValue); mMotorDriverStandBy.write(mStatLedValue);
/*
* we need to check our sensors before we can make a move.
*/
if(mLeftFrontBumber.read()){
//TODO backup, spin right, drive forward
mLeftMotor.setSpeed(0);
mRightMotor.setSpeed(0);
} else if(mRightFrontBumber.read()){
//TODO backup, spin left, drive forward
mLeftMotor.setSpeed(0);
mRightMotor.setSpeed(0);
} else
/* /*
* if the autonomous routine is running * if the autonomous routine is running
* then drive the truck * then drive the truck
@@ -148,7 +170,6 @@ public class IOIOTruckManager extends IOIOManager {
mLeftMotor.setSpeed(0); mLeftMotor.setSpeed(0);
mRightMotor.setSpeed(0); mRightMotor.setSpeed(0);
} }
} }
/** /**

10
IOIOTruck/src/com/TwentyCodes/android/IOIOTruck/IOIOTruckValues.java
View File

@@ -87,4 +87,14 @@ public class IOIOTruckValues extends IOIOValues {
*/ */
public static final int STEER_LEFT = 1300; public static final int STEER_LEFT = 1300;
/**
* IOIO port for the left front bumper switch
*/
public static final int LEFT_FRONT_BUMPER_PORT = 11;
/**
* IOIO port for the right front bumper switch
*/
public static final int RIGHT_FRONT_BUMBER_PORT = 12;
} }