AresENSEA-CDF2020
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motors.cpp@3:3ba377aafdfd, 2020-07-15 (annotated)
- Committer:
- Nanaud
- Date:
- Wed Jul 15 17:51:04 2020 +0000
- Revision:
- 3:3ba377aafdfd
- Parent:
- 1:2fe8c402ee79
- Child:
- 4:ad9b7355332e
Correction odometrie, Ajout fonction debug pour test de rotation;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Nanaud | 1:2fe8c402ee79 | 1 | // Nom du fichier : motors.cpp |
Nanaud | 0:dc036b67c87c | 2 | #include "pins.h" |
Nanaud | 0:dc036b67c87c | 3 | |
Nanaud | 0:dc036b67c87c | 4 | void drv_init(){ |
Nanaud | 0:dc036b67c87c | 5 | mot_dis(); |
Nanaud | 0:dc036b67c87c | 6 | } |
Nanaud | 0:dc036b67c87c | 7 | |
Nanaud | 0:dc036b67c87c | 8 | // ENABLE/DISABLE // Les deux modules ont le même enable |
Nanaud | 0:dc036b67c87c | 9 | void mot_en(){ |
Nanaud | 0:dc036b67c87c | 10 | drvGauche.setEnable(START); |
Nanaud | 0:dc036b67c87c | 11 | //drvDroite.setEnable(START); |
Nanaud | 0:dc036b67c87c | 12 | } |
Nanaud | 0:dc036b67c87c | 13 | |
Nanaud | 0:dc036b67c87c | 14 | void mot_dis(){ |
Nanaud | 0:dc036b67c87c | 15 | drvGauche.setEnable(STOP); |
Nanaud | 0:dc036b67c87c | 16 | //drvDroite.setEnable(STOP); |
Nanaud | 0:dc036b67c87c | 17 | } |
Nanaud | 0:dc036b67c87c | 18 | |
Nanaud | 0:dc036b67c87c | 19 | // FORWARD |
Nanaud | 0:dc036b67c87c | 20 | void motGauche_fwd(){ |
Nanaud | 0:dc036b67c87c | 21 | drvGauche.setDir(FORWARD); |
Nanaud | 0:dc036b67c87c | 22 | } |
Nanaud | 0:dc036b67c87c | 23 | |
Nanaud | 0:dc036b67c87c | 24 | void motDroite_fwd(){ |
Nanaud | 0:dc036b67c87c | 25 | drvDroite.setDir(FORWARD); |
Nanaud | 0:dc036b67c87c | 26 | } |
Nanaud | 0:dc036b67c87c | 27 | |
Nanaud | 0:dc036b67c87c | 28 | // BACKWARD |
Nanaud | 0:dc036b67c87c | 29 | void motGauche_bck(){ |
Nanaud | 0:dc036b67c87c | 30 | drvGauche.setDir(BACKWARD); |
Nanaud | 0:dc036b67c87c | 31 | } |
Nanaud | 0:dc036b67c87c | 32 | |
Nanaud | 0:dc036b67c87c | 33 | void motDroite_bck(){ |
Nanaud | 0:dc036b67c87c | 34 | drvDroite.setDir(BACKWARD); |
Nanaud | 3:3ba377aafdfd | 35 | } |
Nanaud | 3:3ba377aafdfd | 36 | |
Nanaud | 3:3ba377aafdfd | 37 | // TESTS |
Nanaud | 3:3ba377aafdfd | 38 | |
Nanaud | 3:3ba377aafdfd | 39 | void test_drv(){ |
Nanaud | 3:3ba377aafdfd | 40 | mot_en(); |
Nanaud | 3:3ba377aafdfd | 41 | motGauche_fwd(); |
Nanaud | 3:3ba377aafdfd | 42 | drvGauche.moveLinSpeed(1); |
Nanaud | 3:3ba377aafdfd | 43 | wait(2); |
Nanaud | 3:3ba377aafdfd | 44 | motGauche_bck(); |
Nanaud | 3:3ba377aafdfd | 45 | wait(2); |
Nanaud | 3:3ba377aafdfd | 46 | mot_dis(); |
Nanaud | 3:3ba377aafdfd | 47 | } |
Nanaud | 3:3ba377aafdfd | 48 | |
Nanaud | 3:3ba377aafdfd | 49 | void testAngle(int cmdAngle){ |
Nanaud | 3:3ba377aafdfd | 50 | |
Nanaud | 0:dc036b67c87c | 51 | } |