10/25/2015
Dependencies: PID mbed MaxSonar eeprom iSerial Fork_Boss_Communication_Robot
move.cpp
- Committer:
- palmdotax
- Date:
- 2016-03-03
- Revision:
- 12:8a06a803e373
- Parent:
- 11:9df7ada37d31
File content as of revision 12:8a06a803e373:
#include "mbed.h" #include "move.h" DigitalOut dir1(PC_10); DigitalOut dir2(PC_12); PwmOut speeds(PA_5); DigitalOut dirr1(PB_6); DigitalOut dirr2(PC_7); PwmOut speeds2(PA_7); DigitalOut relays(PA_8); void move:: movespeed_1(int dir,float setpoint,float spd) { double dc=0; if(dir==1) { dir1=1; dir2=0; } else { dir1=0; dir2=1; } dc=setpoint+spd; speeds.write(dc); } void move:: movespeed_2(int dir,float setpoint,float spd) { double dc=0; if(dir==1) { dirr1=1; dirr2=0; } else { dirr1=0; dirr2=1; } dc=setpoint+spd; speeds.write(dc); } void move::pump(int on_off) { relays=on_off; }