RGB LEDs Control
Dependencies: mbed QEI PololuLedStrip
MotorControl.cpp
- Committer:
- whutsup
- Date:
- 2019-05-04
- Revision:
- 8:2a4298cbae3f
File content as of revision 8:2a4298cbae3f:
#include "mbed.h" #include "QEI.h" extern Serial bt; DigitalOut Enable(A0); DigitalOut M1(PA_1); DigitalOut M2(PF_1); extern QEI re; extern Ticker timer1; extern int targetDis; void MotorTest(int mode) { switch (mode) { case 0 : //stop Enable = 0; timer1.detach(); break; case 1 : // right Enable = 1; M1 = 1; M2 = 0; break; case 2 : // left Enable = 1; M1 = 0; M2 = 1; break; } } void ControlPos() { int pulse = re.getPulses(); int d = pulse/200; float ref_d = (targetDis-d); float abs_ref_d = abs(ref_d); // float s; // s = abs_ref_d; if(-0.8f > ref_d) { Enable = 1; M1 = 0; M2 = 1; //(s<3)?s/5:1; } else if ( 0.8f <ref_d) { Enable = 1; M1 = 1; //(s<3)?s/5:1; M2 = 0; } if (abs_ref_d < 0.8f) { Enable = 0; timer1.detach(); } }