EE149
/
FinalProject
Final Project files for mBed development.
control.c@6:00b7198f0b51, 2014-11-13 (annotated)
- Committer:
- John Wilkey
- Date:
- Thu Nov 13 00:00:14 2014 -0500
- Revision:
- 6:00b7198f0b51
- Parent:
- 5:01882c3de2dc
- Child:
- 7:6e5cc24e1ce7
Untested additions to skelton
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
lsaristo | 4:13c13a098d2b | 1 | /** |
lsaristo | 4:13c13a098d2b | 2 | * @file control.c |
John Wilkey |
5:01882c3de2dc | 3 | * @brief Motor control functions implemented from project.h |
John Wilkey |
5:01882c3de2dc | 4 | * @author John Wilkey |
John Wilkey |
5:01882c3de2dc | 5 | */ |
John Wilkey |
5:01882c3de2dc | 6 | |
John Wilkey |
5:01882c3de2dc | 7 | #include "project.h" |
John Wilkey |
5:01882c3de2dc | 8 | extern pi; |
John Wilkey |
5:01882c3de2dc | 9 | extern out_pins; |
John Wilkey |
5:01882c3de2dc | 10 | |
John Wilkey |
5:01882c3de2dc | 11 | int forward(float amt, float spd) |
John Wilkey |
5:01882c3de2dc | 12 | { |
John Wilkey |
6:00b7198f0b51 | 13 | if(amt > 1) { spd = 1; } |
John Wilkey |
5:01882c3de2dc | 14 | pi.forward(spd); |
John Wilkey |
5:01882c3de2dc | 15 | wait(amt); |
John Wilkey |
5:01882c3de2dc | 16 | return EXIT_SUCCESS; |
John Wilkey |
5:01882c3de2dc | 17 | } |
John Wilkey |
5:01882c3de2dc | 18 | |
John Wilkey |
5:01882c3de2dc | 19 | int backward(float amt, float spd) |
John Wilkey |
5:01882c3de2dc | 20 | { |
John Wilkey |
6:00b7198f0b51 | 21 | if(amt > 1) { spd = 1; } |
John Wilkey |
5:01882c3de2dc | 22 | pi.backward(spd); |
John Wilkey |
5:01882c3de2dc | 23 | wait(amt); |
John Wilkey |
5:01882c3de2dc | 24 | return EXIT_SUCCESS; |
John Wilkey |
5:01882c3de2dc | 25 | } |
John Wilkey |
5:01882c3de2dc | 26 | |
John Wilkey |
5:01882c3de2dc | 27 | int right(float deg) |
John Wilkey |
5:01882c3de2dc | 28 | { |
John Wilkey |
5:01882c3de2dc | 29 | pi.right(TURN_SPEED); |
John Wilkey |
5:01882c3de2dc | 30 | wait(deg/360); |
John Wilkey |
5:01882c3de2dc | 31 | return EXIT_SUCCESS; |
John Wilkey |
5:01882c3de2dc | 32 | } |
John Wilkey |
5:01882c3de2dc | 33 | |
John Wilkey |
5:01882c3de2dc | 34 | int left(float deg) |
John Wilkey |
5:01882c3de2dc | 35 | { |
John Wilkey |
5:01882c3de2dc | 36 | pi.left(TURN_SPEED); |
John Wilkey |
5:01882c3de2dc | 37 | wait(deg/360); |
John Wilkey |
5:01882c3de2dc | 38 | return EXIT_SUCCESS; |
John Wilkey |
5:01882c3de2dc | 39 | } |
John Wilkey |
5:01882c3de2dc | 40 | |
John Wilkey |
5:01882c3de2dc | 41 | void pretty_print(char* msg) |
John Wilkey |
5:01882c3de2dc | 42 | { |
John Wilkey |
5:01882c3de2dc | 43 | pi.locate(0,1); |
John Wilkey |
5:01882c3de2dc | 44 | pi.printf(msg); |
John Wilkey |
5:01882c3de2dc | 45 | } |