ECE 4180 Drawing Robot / Mbed 2 deprecated ECE_4180_Drawing_Robot

Basic motor code

Dependencies:   Motordriver mbed HALLFX_ENCODER Servo

main.cpp@2:8c27831ce9a2, 2018-04-20 (annotated)

Committer:
jsterling30
Date:
Fri Apr 20 16:53:24 2018 +0000
Revision:
2:8c27831ce9a2
Parent:
1:560118dc2f99
Child:
3:c4b0460d8886
tick measurements

Who changed what in which revision?

UserRevisionLine numberNew contents of line
amohile3 0:191d0be60c80 1 #include "mbed.h"
amohile3 0:191d0be60c80 2 #include "motordriver.h"
jsterling30 2:8c27831ce9a2 3 #include "HALLFX_ENCODER.h"
jsterling30 2:8c27831ce9a2 4
jsterling30 2:8c27831ce9a2 5 #define SPEED 0.2
jsterling30 2:8c27831ce9a2 6 #define TICKSPERREV 384
jsterling30 2:8c27831ce9a2 7 #define DISTPERREV 8.25 // 8.25 inches per revolution
amohile3 0:191d0be60c80 8
jsterling30 2:8c27831ce9a2 9 Motor right(p23,p6,p5, 1); // pwm, fwd, rev
amohile3 0:191d0be60c80 10 Motor left(p21, p7, p8, 1); // pwm, fwd, rev
amohile3 0:191d0be60c80 11
jsterling30 2:8c27831ce9a2 12 HALLFX_ENCODER leftEnc(p15);
jsterling30 2:8c27831ce9a2 13 HALLFX_ENCODER rightEnc(p16);
jsterling30 2:8c27831ce9a2 14
jsterling30 2:8c27831ce9a2 15 void stop() {
jsterling30 2:8c27831ce9a2 16 right.speed(0.0);
jsterling30 2:8c27831ce9a2 17 left.speed(0.0);
jsterling30 2:8c27831ce9a2 18 }
jsterling30 2:8c27831ce9a2 19
jsterling30 2:8c27831ce9a2 20 void forward(float distance) {
jsterling30 2:8c27831ce9a2 21 float numRevs = distance / DISTPERREV;
jsterling30 2:8c27831ce9a2 22 float numTicks = numRevs * TICKSPERREV;
jsterling30 2:8c27831ce9a2 23 leftEnc.reset();
jsterling30 2:8c27831ce9a2 24 rightEnc.reset();
jsterling30 2:8c27831ce9a2 25 printf("Left Ticks Start: %d\r\n", leftEnc.read());
jsterling30 2:8c27831ce9a2 26 printf("Right Ticks Start: %d\r\n", rightEnc.read());
jsterling30 2:8c27831ce9a2 27 right.speed(SPEED);
jsterling30 2:8c27831ce9a2 28 left.speed(SPEED);
jsterling30 2:8c27831ce9a2 29 while (leftEnc.read() < numTicks || rightEnc.read() < numTicks) {}
jsterling30 2:8c27831ce9a2 30 printf("Left Ticks End: %d\r\n", leftEnc.read());
jsterling30 2:8c27831ce9a2 31 printf("Right Ticks End: %d\r\n", rightEnc.read());
jsterling30 2:8c27831ce9a2 32 stop();
jsterling30 2:8c27831ce9a2 33 }
amohile3 0:191d0be60c80 34
amohile3 0:191d0be60c80 35 int main() {
jsterling30 2:8c27831ce9a2 36 //leftEnc.reset();
jsterling30 2:8c27831ce9a2 37 //rightEnc.reset();
jsterling30 2:8c27831ce9a2 38 //while (1) {
jsterling30 2:8c27831ce9a2 39 // printf("Left Ticks: %d\r\n", leftEnc.read());
jsterling30 2:8c27831ce9a2 40 // printf("Right Ticks: %d\r\n\r\n", rightEnc.read());
jsterling30 2:8c27831ce9a2 41 // wait(0.5);
jsterling30 2:8c27831ce9a2 42 //}
jsterling30 2:8c27831ce9a2 43 forward(10.0);
amohile3 0:191d0be60c80 44 }