Betago / Mbed 2 deprecated BETAGO

10/25/2015

Dependencies:   PID mbed MaxSonar eeprom iSerial Fork_Boss_Communication_Robot

move.cpp@8:8fbc0c858875, 2015-12-14 (annotated)

Committer:
palmdotax
Date:
Mon Dec 14 19:35:08 2015 +0000
Revision:
8:8fbc0c858875
Parent:
6:9ed82a812ece
Child:
9:86701fec3f79
v1.1.1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
palmdotax 0:f02641e3fb91 1 #include "mbed.h"
palmdotax 0:f02641e3fb91 2 #include "move.h"
palmdotax 0:f02641e3fb91 3
palmdotax 0:f02641e3fb91 4
palmdotax 0:f02641e3fb91 5
palmdotax 4:e6ab360e7de6 6 DigitalOut dir1(D6);
palmdotax 4:e6ab360e7de6 7 DigitalOut dir2(D7);
palmdotax 4:e6ab360e7de6 8 PwmOut speeds(PC_8);
palmdotax 8:8fbc0c858875 9 DigitalOut dirr1(D4);
palmdotax 8:8fbc0c858875 10 DigitalOut dirr2(D5);
palmdotax 8:8fbc0c858875 11 PwmOut speeds2(D3);
palmdotax 8:8fbc0c858875 12 void move:: movespeed_1(int dir,float setpoint,float spd)
palmdotax 0:f02641e3fb91 13 {
palmdotax 6:9ed82a812ece 14 double dc=0;
palmdotax 0:f02641e3fb91 15 if(dir==1)
palmdotax 0:f02641e3fb91 16 {
palmdotax 0:f02641e3fb91 17 dir1=1;
palmdotax 0:f02641e3fb91 18 dir2=0;
palmdotax 0:f02641e3fb91 19 }
palmdotax 0:f02641e3fb91 20 else
palmdotax 0:f02641e3fb91 21 {
palmdotax 0:f02641e3fb91 22 dir1=0;
palmdotax 0:f02641e3fb91 23 dir2=1;
palmdotax 0:f02641e3fb91 24 }
palmdotax 6:9ed82a812ece 25 dc=setpoint+spd;
palmdotax 6:9ed82a812ece 26 speeds.write(dc);
palmdotax 6:9ed82a812ece 27
palmdotax 0:f02641e3fb91 28
palmdotax 8:8fbc0c858875 29 }
palmdotax 8:8fbc0c858875 30 void move:: movespeed_2(int dir,float setpoint,float spd)
palmdotax 8:8fbc0c858875 31 {
palmdotax 8:8fbc0c858875 32 double dc=0;
palmdotax 8:8fbc0c858875 33 if(dir==1)
palmdotax 8:8fbc0c858875 34 {
palmdotax 8:8fbc0c858875 35 dirr1=1;
palmdotax 8:8fbc0c858875 36 dirr2=0;
palmdotax 8:8fbc0c858875 37 }
palmdotax 8:8fbc0c858875 38 else
palmdotax 8:8fbc0c858875 39 {
palmdotax 8:8fbc0c858875 40 dirr1=0;
palmdotax 8:8fbc0c858875 41 dirr2=1;
palmdotax 8:8fbc0c858875 42 }
palmdotax 8:8fbc0c858875 43 dc=setpoint+spd;
palmdotax 8:8fbc0c858875 44 speeds.write(dc);
palmdotax 8:8fbc0c858875 45
palmdotax 8:8fbc0c858875 46
palmdotax 0:f02641e3fb91 47 }