Diff: motor.cpp

Revision:

0:b0476dcfa14c

Child:

1:09226806dd15

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/motor.cpp	Tue Oct 18 14:57:55 2016 +0000
@@ -0,0 +1,174 @@
+#include "mbed.h"
+#include "TFC.h"
+DigitalOut myled(LED1);
+
+int  motor_setup(); 
+void TurnOn();
+void RunMotor();
+void DefaultMode();
+
+
+//Speed control
+void Acc(float& motorA, float& motorB);
+void Decc(float& motorA, float& motorB);
+void StartLine();
+
+//Corner Control
+
+void PWM_cornerCntrl(bool a,float pwmRatio);
+void cornerLeft(float speed);
+void cornerRight(float speed);
+
+
+//int cornerPwmControl;// this sets the cornering percentage ratio. value between 100 and 0.
+                     // 100 means both motors run at the same speed. 0 means that one motor turns off.
+
+
+
+// uncomment for testing motor functions.
+
+
+ int   motor_setup()
+    {
+        
+        //TurnOn();
+        
+        return 0;
+    }
+    
+    
+ 
+    
+
+ void   RunMotor() /// putting it into this mode for some reason makes a bit of a whinning noise (this may simply just be the motor running)
+    {
+        
+        TFC_HBRIDGE_ENABLE;
+        // TFC_SetMotorPWM(0.4,0.7);
+        
+        while(1)
+        {
+            if(TFC_ReadPushButton(0)>0)
+            {
+                TFC_SetMotorPWM(0.0,0.0);
+                TFC_HBRIDGE_DISABLE;
+                DefaultMode();
+                
+            }
+        }
+        return;
+    }
+    
+void DefaultMode()
+    {
+        while(1)
+        {
+            if(TFC_ReadPushButton(1)>0)
+               {
+                    RunMotor();
+                }
+            
+            else if(TFC_ReadPushButton(0)>0)
+               {
+                    //this will be a debug mode
+                }
+            
+               
+        }
+    return;
+    }
+    
+    
+void Acc(float& motorA, float& motorB)// set up so as to control both motors during acc. Potential use during corners
+    {
+        motorA = motorA + 0.1;
+        motorB = motorB + 0.1;
+        TFC_SetMotorPWM(motorA,motorB);
+        
+                
+    return ;
+    
+    }
+    
+void Decc(float &motorA, float &motorB)
+    {
+        // a good thing to do would be to have a margin for adjustment so that the car cornering can control the acc+dcc much better. 
+        
+        motorA = motorA - 0.1;
+        motorB = motorB - 0.1;
+        
+        TFC_SetMotorPWM(motorA,motorB);
+        
+    return ;
+    
+    }
+    
+    
+void StartLine()
+    {
+        TFC_HBRIDGE_ENABLE;
+        float a=0;
+        float b=0;
+          
+        int x=0 ;
+        while(x<5)
+        {
+            Acc(a,b);
+            wait(0.5);
+            x++  ;
+        } 
+        
+     return ;
+    }
+    
+void finishLine(float pwmA)
+    {
+        float pwmB= pwmA;
+        while(pwmA>0)
+        {
+            
+          
+           Decc(pwmA,pwmB);
+           
+        }
+        return;
+    }
+
+void PWM_cornerCntrl(bool a,float pwmRatio)
+    {
+        //A is the Right motor B is the left motor.
+        // may need the value of speed to decelerate.
+        if(a==1)//turn left
+        {
+            cornerLeft(pwmRatio);
+        }
+        
+        else()//turn right
+        {
+               cornerRight(pwmRatio)
+        }
+     return;   
+    }
+    
+    
+    
+    
+void cornerLeft(float speed)
+    {// when cornering left the left motor slows down more than the right hand side
+    // may just replace with ACC and DECC
+     TFC_SetMotorPWM(speed,speed*cornerPwmControl);//temperary values
+     
+     return;   
+    }
+    
+void cornerRight(float speed)
+    {   // may need to put deceleration control within here.
+        // may just replace with ACC and DECC
+        TFC_SetMotorPWM(speed*cornerPwmControl,speed); //temperary values
+        
+     return;   
+    }
+    
+    
+    
+