Revision 7:6f5cb6377bd4, committed 2017-05-05

Comitter:

sahilmgandhi

Date:

Fri May 05 00:08:59 2017 +0000

Parent:

6:3d68fedd6fd9

Child:

8:a0760acdc59e

Commit message:

Added some stuff for motor + encoders

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/QEI.lib	Fri May 05 00:08:59 2017 +0000
@@ -0,0 +1,1 @@
+https://mbed.org/users/aberk/code/QEI/#5c2ad81551aa

--- a/main.cpp	Thu May 04 21:38:20 2017 +0000
+++ b/main.cpp	Fri May 05 00:08:59 2017 +0000
@@ -6,6 +6,7 @@
 
 #include <stdlib.h>
 #include "ITG3200.h"
+#include "QEI.h"
 
 // PID
 #define P_CONSTANT 0.0025
@@ -15,12 +16,14 @@
 
 int main()
 {
+    enableMotors();
     //Set highest bandwidth.
     gyro.setLpBandwidth(LPFBW_42HZ);
     serial.baud(9600);
-       
+    serial.printf("The gyro's address is %s", gyro.getWhoAmI());
+
     wait (0.1);
-    
+
 //    IR_1.write(1);
 //    IR_2.write(1);
 //    IR_3.write(1);
@@ -30,11 +33,14 @@
     greenLed.write(0);
     blueLed.write(1);
     
+    rightWheelForward(0.1);
+    leftWheelForward(0.1);
+
     while (1) {
-        
-        wait(0.1);
+
+    wait(0.1);
         serial.printf("%i, %i, %i\n", gyro.getGyroX(), gyro.getGyroY(), gyro.getGyroZ());
-            
+
         //reading = Rec_4.read();
 //        serial.printf("reading: %f\n", reading);
 //        redLed.write(0);

--- a/main.h	Thu May 04 21:38:20 2017 +0000
+++ b/main.h	Fri May 05 00:08:59 2017 +0000
@@ -10,14 +10,15 @@
 PwmOut right1(PA_10);
 PwmOut right2(PA_11);
 
+DigitalOut enableLeftMotor(PB_4);
+DigitalOut enableRightMotor(PB_5);
+
 // RGB LED
 DigitalOut redLed(PC_0);
 DigitalOut blueLed(PC_1);
 DigitalOut greenLed(PC_2);
 
 // IRs
-
-/*
 DigitalOut IR_1(PB_1);
 DigitalOut IR_2(PB_13);
 DigitalOut IR_3(PB_0);
@@ -28,7 +29,7 @@
 AnalogIn Rec_2(PC_4);
 AnalogIn Rec_3(PA_6);
 AnalogIn Rec_4(PA_7);
-*/
+
 
 // Doing DEBUGGING
 #define DEBUGGING 1

--- a/motor.h	Thu May 04 21:38:20 2017 +0000
+++ b/motor.h	Fri May 05 00:08:59 2017 +0000
@@ -4,6 +4,8 @@
 #include "mbed.h"
 #include "main.h"
 
+#include "QEI.h"
+
 #define BRAKE_VOLTAGE 0.2
 
 extern PwmOut left1;
@@ -11,12 +13,22 @@
 extern PwmOut right1;
 extern PwmOut right2;
 
-inline void rightWheelForward(double voltage) {
+extern DigitalOut enableLeftMotor;
+extern DigitalOut enableRightMotor;
+
+//QEI leftWheel(
+
+inline void enableMotors(){
+    enableLeftMotor.write(1);
+    enableRightMotor.write(1);
+}
+
+inline void rightWheelBackward(double voltage) {
     right1.write(voltage);
     right2.write(0);
 }
 
-inline void rightWheelBackward(double voltage) {
+inline void rightWheelForward(double voltage) {
     right1.write(0);
     right2.write(voltage);
 }