Fork of Emaxx Navigation code with dynamic vehicle model and HIL support. Strange bugs with mbed locking up upon receiving certain messages.
Dependencies: BNO055_fusion Vehicle_Model MODSERIAL ServoIn ServoOut mbed
Fork of Emaxx_Navigation by
motor_driver.h
- Committer:
- jdawkins
- Date:
- 2017-04-07
- Revision:
- 8:9817993e5df7
File content as of revision 8:9817993e5df7:
DigitalOut mot_ph1(p29, 0); DigitalOut mot_ph2(p30, 0); PwmOut mot_en(p26); void mot_control(float dc){ if(dc>1.0) dc=1.0; if(dc<-1.0) dc=-1.0; if(dc > 0.0){ mot_ph2 = 0; mot_ph1 = 1; mot_en = dc; } else if(dc < -0.0){ mot_ph1 = 0; mot_ph2 = 1; mot_en = abs(dc); } else{ mot_ph1 = 0; mot_ph2 = 0; mot_en = 0.0; } }