AresENSEA-CDF2020 / Mbed 2 deprecated AresCDFMainCode_us2

Test

Dependencies:   mbed DRV8825

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?

UserRevisionLine numberNew 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 }