This adds to the existing m3pi mbed library to add driving commands with speeds as integers ranging from -255 for 255, as does the serial slave program for the m3pi. Library for the m3pi robot. This works with a Pololu 3pi robot with the Serial Slave firmware, and exposes an API.
Fork of m3pi by
Diff: m3pi.cpp
- Revision:
- 9:3f9c47a7fc66
- Parent:
- 7:9b128cebb3c2
--- a/m3pi.cpp Thu May 12 13:26:37 2011 +0000 +++ b/m3pi.cpp Sun May 27 22:06:09 2018 +0000 @@ -75,6 +75,26 @@ motor(1,0.0); } +void m3pi::left_motor(int speed) { + if (speed > 0) { + _ser.putc(M1_FORWARD); + _ser.putc(speed); + } else { + _ser.putc(M1_BACKWARD); + _ser.putc(-speed); + } +} + +void m3pi::right_motor(int speed) { + if (speed > 0) { + _ser.putc(M2_FORWARD); + _ser.putc(speed); + } else { + _ser.putc(M2_BACKWARD); + _ser.putc(-speed); + } +} + void m3pi::motor (int motor, float speed) { char opcode = 0x0; if (speed > 0.0) {