WALL-E Version 1.0
The "WALL-E" Project is a ME 507 quarter term project inspired to recreate the robot WALL-E. The WALL-E robot is a fully 3D printed robot with modified components in order to fit the needs of the chosen peripherals and electronics. WALL-E contains a custom made PCB which is housed in the main body of WALL-E. WALL-E's peripherals and components include 2 pololu Romi Motors with encoders, 4 MG90s servos, BNO055 IMU, and a OV2640 ArduCam camera. The objective of WALL-E is to scan the surrounding area for the closest object to it. Once that object is detected, WALL-E drives up to the object, attempts to pick up or hold the object and detect the color of the object.
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romiMotor.h
Go to the documentation of this file.
1/* USER CODE BEGIN Header */
19
20
21#ifndef INC_ROMIMOTOR_H_
22#define INC_ROMIMOTOR_H_
23
24#include "stm32f4xx_hal.h"
25
29class RomiMotor{
30 public:
31 RomiMotor(GPIO_TypeDef* enPort, uint16_t enPin,
32 GPIO_TypeDef* phPort, uint16_t phPin,
33 GPIO_TypeDef* slPort, uint16_t slPin);
34
35 void setSpeed(int8_t);
36 void updatePWM();
37 void enable();
38 void disable();
39 int8_t getDuty();
40
41 private:
45 GPIO_TypeDef* en_Port;
46
50 uint16_t en_Pin;
51
55 GPIO_TypeDef* ph_Port;
56
60 uint16_t ph_Pin;
61
65 GPIO_TypeDef* sl_Port;
66
70 uint16_t sl_Pin;
71
75 int8_t duty_Cycle;
76
80 uint8_t pwm_Counter;
81};
82
83#endif /* INC_ROMIMOTOR_C_ */
RomiMotor::duty_Cycle
int8_t duty_Cycle
Definition romiMotor.h:75
RomiMotor::disable
void disable()
Function disables the motor to no longer respond to pwm signals.
Definition romiMotor.cpp:49
RomiMotor::sl_Port
GPIO_TypeDef * sl_Port
Definition romiMotor.h:65
RomiMotor::updatePWM
void updatePWM()
Function uses and internal timer to trigger PWM signals via this function through the use of the PWM/...
Definition romiMotor.cpp:73
RomiMotor::ph_Pin
uint16_t ph_Pin
Definition romiMotor.h:60
RomiMotor::en_Port
GPIO_TypeDef * en_Port
Definition romiMotor.h:45
RomiMotor::en_Pin
uint16_t en_Pin
Definition romiMotor.h:50
RomiMotor::RomiMotor
RomiMotor(GPIO_TypeDef *enPort, uint16_t enPin, GPIO_TypeDef *phPort, uint16_t phPin, GPIO_TypeDef *slPort, uint16_t slPin)
Construction for the ROMI Motor Class.
Definition romiMotor.cpp:30
RomiMotor::ph_Port
GPIO_TypeDef * ph_Port
Definition romiMotor.h:55
RomiMotor::getDuty
int8_t getDuty()
Function allows the user to get the current duty.
Definition romiMotor.cpp:91
RomiMotor::pwm_Counter
uint8_t pwm_Counter
Definition romiMotor.h:80
RomiMotor::setSpeed
void setSpeed(int8_t)
Function Sets the Direction of the PWM Signal and changes direction based on the duty value.
Definition romiMotor.cpp:60
RomiMotor::enable
void enable()
Function Enables the motor to operate based on the PWM.
Definition romiMotor.cpp:40
RomiMotor::sl_Pin
uint16_t sl_Pin
Definition romiMotor.h:70