Mouse code for the MacroRat
motor.h@7:6f5cb6377bd4, 2017-05-05 (annotated)
- Committer:
- sahilmgandhi
- Date:
- Fri May 05 00:08:59 2017 +0000
- Revision:
- 7:6f5cb6377bd4
- Parent:
- 4:b5b7836ca2b0
- Child:
- 8:a0760acdc59e
Added some stuff for motor + encoders
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
kyleliangus | 4:b5b7836ca2b0 | 1 | #ifndef MOTOR_H |
kyleliangus | 4:b5b7836ca2b0 | 2 | #define MOTOR_H |
kyleliangus | 4:b5b7836ca2b0 | 3 | |
kyleliangus | 4:b5b7836ca2b0 | 4 | #include "mbed.h" |
kyleliangus | 4:b5b7836ca2b0 | 5 | #include "main.h" |
kyleliangus | 4:b5b7836ca2b0 | 6 | |
sahilmgandhi | 7:6f5cb6377bd4 | 7 | #include "QEI.h" |
sahilmgandhi | 7:6f5cb6377bd4 | 8 | |
kyleliangus | 4:b5b7836ca2b0 | 9 | #define BRAKE_VOLTAGE 0.2 |
kyleliangus | 4:b5b7836ca2b0 | 10 | |
kyleliangus | 4:b5b7836ca2b0 | 11 | extern PwmOut left1; |
kyleliangus | 4:b5b7836ca2b0 | 12 | extern PwmOut left2; |
kyleliangus | 4:b5b7836ca2b0 | 13 | extern PwmOut right1; |
kyleliangus | 4:b5b7836ca2b0 | 14 | extern PwmOut right2; |
kyleliangus | 4:b5b7836ca2b0 | 15 | |
sahilmgandhi | 7:6f5cb6377bd4 | 16 | extern DigitalOut enableLeftMotor; |
sahilmgandhi | 7:6f5cb6377bd4 | 17 | extern DigitalOut enableRightMotor; |
sahilmgandhi | 7:6f5cb6377bd4 | 18 | |
sahilmgandhi | 7:6f5cb6377bd4 | 19 | //QEI leftWheel( |
sahilmgandhi | 7:6f5cb6377bd4 | 20 | |
sahilmgandhi | 7:6f5cb6377bd4 | 21 | inline void enableMotors(){ |
sahilmgandhi | 7:6f5cb6377bd4 | 22 | enableLeftMotor.write(1); |
sahilmgandhi | 7:6f5cb6377bd4 | 23 | enableRightMotor.write(1); |
sahilmgandhi | 7:6f5cb6377bd4 | 24 | } |
sahilmgandhi | 7:6f5cb6377bd4 | 25 | |
sahilmgandhi | 7:6f5cb6377bd4 | 26 | inline void rightWheelBackward(double voltage) { |
kyleliangus | 4:b5b7836ca2b0 | 27 | right1.write(voltage); |
kyleliangus | 4:b5b7836ca2b0 | 28 | right2.write(0); |
kyleliangus | 4:b5b7836ca2b0 | 29 | } |
kyleliangus | 4:b5b7836ca2b0 | 30 | |
sahilmgandhi | 7:6f5cb6377bd4 | 31 | inline void rightWheelForward(double voltage) { |
kyleliangus | 4:b5b7836ca2b0 | 32 | right1.write(0); |
kyleliangus | 4:b5b7836ca2b0 | 33 | right2.write(voltage); |
kyleliangus | 4:b5b7836ca2b0 | 34 | } |
kyleliangus | 4:b5b7836ca2b0 | 35 | |
kyleliangus | 4:b5b7836ca2b0 | 36 | inline void leftWheelForward(double voltage) { |
kyleliangus | 4:b5b7836ca2b0 | 37 | left1.write(0); |
kyleliangus | 4:b5b7836ca2b0 | 38 | left2.write(voltage); |
kyleliangus | 4:b5b7836ca2b0 | 39 | } |
kyleliangus | 4:b5b7836ca2b0 | 40 | |
kyleliangus | 4:b5b7836ca2b0 | 41 | inline void leftWheelBackward(double voltage) { |
kyleliangus | 4:b5b7836ca2b0 | 42 | left1.write(voltage); |
kyleliangus | 4:b5b7836ca2b0 | 43 | left2.write(0); |
kyleliangus | 4:b5b7836ca2b0 | 44 | } |
kyleliangus | 4:b5b7836ca2b0 | 45 | |
kyleliangus | 4:b5b7836ca2b0 | 46 | inline void brakeLeftWheel() { |
kyleliangus | 4:b5b7836ca2b0 | 47 | left1.write(BRAKE_VOLTAGE); |
kyleliangus | 4:b5b7836ca2b0 | 48 | left2.write(BRAKE_VOLTAGE); |
kyleliangus | 4:b5b7836ca2b0 | 49 | } |
kyleliangus | 4:b5b7836ca2b0 | 50 | |
kyleliangus | 4:b5b7836ca2b0 | 51 | inline void brakeRightWheel() { |
kyleliangus | 4:b5b7836ca2b0 | 52 | right1.write(BRAKE_VOLTAGE); |
kyleliangus | 4:b5b7836ca2b0 | 53 | right2.write(BRAKE_VOLTAGE); |
kyleliangus | 4:b5b7836ca2b0 | 54 | } |
kyleliangus | 4:b5b7836ca2b0 | 55 | |
kyleliangus | 4:b5b7836ca2b0 | 56 | inline void brake() { |
kyleliangus | 4:b5b7836ca2b0 | 57 | brakeLeftWheel(); |
kyleliangus | 4:b5b7836ca2b0 | 58 | brakeRightWheel(); |
kyleliangus | 4:b5b7836ca2b0 | 59 | } |
kyleliangus | 4:b5b7836ca2b0 | 60 | |
kyleliangus | 4:b5b7836ca2b0 | 61 | inline void coastLeftWheel() { |
kyleliangus | 4:b5b7836ca2b0 | 62 | left1.write(0); |
kyleliangus | 4:b5b7836ca2b0 | 63 | left2.write(0); |
kyleliangus | 4:b5b7836ca2b0 | 64 | } |
kyleliangus | 4:b5b7836ca2b0 | 65 | |
kyleliangus | 4:b5b7836ca2b0 | 66 | inline void coastRightWheel() { |
kyleliangus | 4:b5b7836ca2b0 | 67 | right1.write(0); |
kyleliangus | 4:b5b7836ca2b0 | 68 | right2.write(0); |
kyleliangus | 4:b5b7836ca2b0 | 69 | } |
kyleliangus | 4:b5b7836ca2b0 | 70 | |
kyleliangus | 4:b5b7836ca2b0 | 71 | inline void coast() { |
kyleliangus | 4:b5b7836ca2b0 | 72 | coastLeftWheel(); |
kyleliangus | 4:b5b7836ca2b0 | 73 | coastRightWheel(); |
kyleliangus | 4:b5b7836ca2b0 | 74 | } |
kyleliangus | 4:b5b7836ca2b0 | 75 | |
kyleliangus | 4:b5b7836ca2b0 | 76 | #endif |