Betago / Mbed 2 deprecated clean_V1

v1

Dependencies:   BEAR_Protocol_Edited BufferedSerial Debug MaxSonar PID Process QEI UI iSerial mbed

Fork of CleaningMachine_Betago by palm and chin

move.cpp@6:adf1f4351f9f, 2016-06-07 (annotated)

Committer:
palmdotax
Date:
Tue Jun 07 03:28:39 2016 +0000
Revision:
6:adf1f4351f9f
Parent:
1:45f1573d65a1 
v1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
palmdotax 1:45f1573d65a1 1 #include "mbed.h"
palmdotax 1:45f1573d65a1 2 #include "move.h"
palmdotax 1:45f1573d65a1 3
palmdotax 1:45f1573d65a1 4
palmdotax 1:45f1573d65a1 5
palmdotax 1:45f1573d65a1 6 DigitalOut dir1(PC_10);
palmdotax 1:45f1573d65a1 7 DigitalOut dir2(PC_12);
palmdotax 1:45f1573d65a1 8 PwmOut speeds(PA_5);
palmdotax 1:45f1573d65a1 9 DigitalOut dirr1(PB_6);
palmdotax 1:45f1573d65a1 10 DigitalOut dirr2(PC_7);
palmdotax 1:45f1573d65a1 11 PwmOut speeds2(PA_7);
palmdotax 1:45f1573d65a1 12 DigitalOut relays(PA_8);
palmdotax 1:45f1573d65a1 13 void move:: movespeed_1(float setpoint,float spd)
palmdotax 1:45f1573d65a1 14 {
palmdotax 1:45f1573d65a1 15 double dc=0;
palmdotax 1:45f1573d65a1 16 if(setpoint>=0)
palmdotax 1:45f1573d65a1 17 {
palmdotax 1:45f1573d65a1 18 dir1=1;
palmdotax 1:45f1573d65a1 19 dir2=0;
palmdotax 1:45f1573d65a1 20 }
palmdotax 1:45f1573d65a1 21 else
palmdotax 1:45f1573d65a1 22 {
palmdotax 1:45f1573d65a1 23 dir1=0;
palmdotax 1:45f1573d65a1 24 dir2=1;
palmdotax 1:45f1573d65a1 25 }
palmdotax 1:45f1573d65a1 26 dc=setpoint+spd;
palmdotax 1:45f1573d65a1 27 speeds.write(dc);
palmdotax 1:45f1573d65a1 28
palmdotax 1:45f1573d65a1 29
palmdotax 1:45f1573d65a1 30 }
palmdotax 1:45f1573d65a1 31 void move:: movespeed_2(float setpoint,float spd)
palmdotax 1:45f1573d65a1 32 {
palmdotax 1:45f1573d65a1 33 double dc=0;
palmdotax 1:45f1573d65a1 34 if(setpoint>=0)
palmdotax 1:45f1573d65a1 35 {
palmdotax 1:45f1573d65a1 36 dirr1=1;
palmdotax 1:45f1573d65a1 37 dirr2=0;
palmdotax 1:45f1573d65a1 38 }
palmdotax 1:45f1573d65a1 39 else
palmdotax 1:45f1573d65a1 40 {
palmdotax 1:45f1573d65a1 41 dirr1=0;
palmdotax 1:45f1573d65a1 42 dirr2=1;
palmdotax 1:45f1573d65a1 43 }
palmdotax 1:45f1573d65a1 44 dc=setpoint+spd;
palmdotax 1:45f1573d65a1 45 speeds.write(dc);
palmdotax 1:45f1573d65a1 46
palmdotax 1:45f1573d65a1 47
palmdotax 1:45f1573d65a1 48 }
palmdotax 1:45f1573d65a1 49 void move::pump(int on_off)
palmdotax 1:45f1573d65a1 50 {
palmdotax 1:45f1573d65a1 51 relays=on_off;
palmdotax 1:45f1573d65a1 52 }