AVR Competition / Mbed 2 deprecated AVC_Robot_Controled_Navigation

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Dependencies:   FXOS8700CQ SDFileSystem mbed

lib/motors.cpp

Committer:
gerardo_carmona
Date:
2014-10-16
Revision:
0:3a322aad8c88

File content as of revision 0:3a322aad8c88:

// ----- Libraries ------------------------------------------------------------------
#include "mbed.h"
#include "motors.h"

// ----- I/O Pins -------------------------------------------------------------------
// MOTORS (Control)
DigitalOut dir_left(D7);
DigitalOut dir_right(D8);
PwmOut pwm_left(D9);
PwmOut pwm_right(D10);

// ----- Functions ------------------------------------------------------------------
void move_motors(char _move_command, int _power_left, int _power_right){
    switch (_move_command){
        case MOVE_FWD:
            motor_fwd(_power_left, _power_right);
            break;
        case MOVE_REV:
            motor_rev(_power_left, _power_right);
            break;
        case MOVE_LEF:
            motor_left(_power_left, _power_right);
            break;
        case MOVE_RIG:
            motor_right(_power_left, _power_right);
            break;
        case MOVE_STO:
            motor_stop();
            break;
        //case MOVE_90L:
        //    move_90(1);
        //    break;
        //case MOVE_90R:
        //    move_90(2);
        //    break;
        default:
        //    bt.printf("%f\r\n", get_mag_angle());
        break;
    }
}

void motor_fwd(int _power_left, int _power_right){
    dir_left = 1;
    dir_right = 1;
    pwm_left = (float)_power_left/100;
    pwm_right = (float)_power_right/100;
    //pc.printf("FWD\n");
}

void motor_rev(int _power_left, int _power_right){
    dir_left = 0;
    dir_right = 0;
    pwm_left = (float)_power_left/100;
    pwm_right = (float)_power_right/100;
    //pc.printf("REV\n");
}

void motor_left(int _power_left, int _power_right){
    dir_left = 0;
    dir_right = 1;
    pwm_left = (float)_power_left/100;
    pwm_right = (float)_power_right/100;
    //pc.printf("LEFT\n");
}

void motor_right(int _power_left, int _power_right){
    dir_left = 1;
    dir_right = 0;
    pwm_left = (float)_power_left/100;
    pwm_right = (float)_power_right/100;
    //pc.printf("RIGHT\n");
}

void motor_stop(){
    dir_left = 1;
    dir_right = 1;
    pwm_left = 0;
    pwm_right = 0;
    //pc.printf("STOP\n");
}