Mouse code for the MacroRat
motor.h@4:b5b7836ca2b0, 2017-04-28 (annotated)
- Committer:
- kyleliangus
- Date:
- Fri Apr 28 02:13:24 2017 +0000
- Revision:
- 4:b5b7836ca2b0
- Child:
- 7:6f5cb6377bd4
Added Modularity, Motors
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 | |
kyleliangus | 4:b5b7836ca2b0 | 7 | #define BRAKE_VOLTAGE 0.2 |
kyleliangus | 4:b5b7836ca2b0 | 8 | |
kyleliangus | 4:b5b7836ca2b0 | 9 | extern PwmOut left1; |
kyleliangus | 4:b5b7836ca2b0 | 10 | extern PwmOut left2; |
kyleliangus | 4:b5b7836ca2b0 | 11 | extern PwmOut right1; |
kyleliangus | 4:b5b7836ca2b0 | 12 | extern PwmOut right2; |
kyleliangus | 4:b5b7836ca2b0 | 13 | |
kyleliangus | 4:b5b7836ca2b0 | 14 | inline void rightWheelForward(double voltage) { |
kyleliangus | 4:b5b7836ca2b0 | 15 | right1.write(voltage); |
kyleliangus | 4:b5b7836ca2b0 | 16 | right2.write(0); |
kyleliangus | 4:b5b7836ca2b0 | 17 | } |
kyleliangus | 4:b5b7836ca2b0 | 18 | |
kyleliangus | 4:b5b7836ca2b0 | 19 | inline void rightWheelBackward(double voltage) { |
kyleliangus | 4:b5b7836ca2b0 | 20 | right1.write(0); |
kyleliangus | 4:b5b7836ca2b0 | 21 | right2.write(voltage); |
kyleliangus | 4:b5b7836ca2b0 | 22 | } |
kyleliangus | 4:b5b7836ca2b0 | 23 | |
kyleliangus | 4:b5b7836ca2b0 | 24 | inline void leftWheelForward(double voltage) { |
kyleliangus | 4:b5b7836ca2b0 | 25 | left1.write(0); |
kyleliangus | 4:b5b7836ca2b0 | 26 | left2.write(voltage); |
kyleliangus | 4:b5b7836ca2b0 | 27 | } |
kyleliangus | 4:b5b7836ca2b0 | 28 | |
kyleliangus | 4:b5b7836ca2b0 | 29 | inline void leftWheelBackward(double voltage) { |
kyleliangus | 4:b5b7836ca2b0 | 30 | left1.write(voltage); |
kyleliangus | 4:b5b7836ca2b0 | 31 | left2.write(0); |
kyleliangus | 4:b5b7836ca2b0 | 32 | } |
kyleliangus | 4:b5b7836ca2b0 | 33 | |
kyleliangus | 4:b5b7836ca2b0 | 34 | inline void brakeLeftWheel() { |
kyleliangus | 4:b5b7836ca2b0 | 35 | left1.write(BRAKE_VOLTAGE); |
kyleliangus | 4:b5b7836ca2b0 | 36 | left2.write(BRAKE_VOLTAGE); |
kyleliangus | 4:b5b7836ca2b0 | 37 | } |
kyleliangus | 4:b5b7836ca2b0 | 38 | |
kyleliangus | 4:b5b7836ca2b0 | 39 | inline void brakeRightWheel() { |
kyleliangus | 4:b5b7836ca2b0 | 40 | right1.write(BRAKE_VOLTAGE); |
kyleliangus | 4:b5b7836ca2b0 | 41 | right2.write(BRAKE_VOLTAGE); |
kyleliangus | 4:b5b7836ca2b0 | 42 | } |
kyleliangus | 4:b5b7836ca2b0 | 43 | |
kyleliangus | 4:b5b7836ca2b0 | 44 | inline void brake() { |
kyleliangus | 4:b5b7836ca2b0 | 45 | brakeLeftWheel(); |
kyleliangus | 4:b5b7836ca2b0 | 46 | brakeRightWheel(); |
kyleliangus | 4:b5b7836ca2b0 | 47 | } |
kyleliangus | 4:b5b7836ca2b0 | 48 | |
kyleliangus | 4:b5b7836ca2b0 | 49 | inline void coastLeftWheel() { |
kyleliangus | 4:b5b7836ca2b0 | 50 | left1.write(0); |
kyleliangus | 4:b5b7836ca2b0 | 51 | left2.write(0); |
kyleliangus | 4:b5b7836ca2b0 | 52 | } |
kyleliangus | 4:b5b7836ca2b0 | 53 | |
kyleliangus | 4:b5b7836ca2b0 | 54 | inline void coastRightWheel() { |
kyleliangus | 4:b5b7836ca2b0 | 55 | right1.write(0); |
kyleliangus | 4:b5b7836ca2b0 | 56 | right2.write(0); |
kyleliangus | 4:b5b7836ca2b0 | 57 | } |
kyleliangus | 4:b5b7836ca2b0 | 58 | |
kyleliangus | 4:b5b7836ca2b0 | 59 | inline void coast() { |
kyleliangus | 4:b5b7836ca2b0 | 60 | coastLeftWheel(); |
kyleliangus | 4:b5b7836ca2b0 | 61 | coastRightWheel(); |
kyleliangus | 4:b5b7836ca2b0 | 62 | } |
kyleliangus | 4:b5b7836ca2b0 | 63 | |
kyleliangus | 4:b5b7836ca2b0 | 64 | #endif |