Ohnishi_Gundan / Mbed 2 deprecated Master-FM

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Dependencies:   MODSERIAL mbed-rtos mbed

Fork of Master by Ohnishi_Gundan

control.cpp

Committer:
9uS7
Date:
2014-09-11
Revision:
0:4f07ba929908
Child:
1:e1cfb5850088

File content as of revision 0:4f07ba929908:

#include "mbed.h"
#include "control.h"

void pull(float buf){
    Sig1 = 0;
    Sig2 = 1;
    Pwm = zeroPWM+buf/3;
}

void loose(float buf){
    Sig1 = 1;
    Sig2 = 0;
    Pwm = zeroPWM+buf/3;
}

void brake(void){
    Sig1 = 0;
    Sig2 = 0;
    Pwm = 1;
}

void open(void){
    Sig1 = 0;
    Sig2 = 0;
    Pwm = 0;
}

void ResetPos(){
    int pos_flag=0;
    while(1){
        if(Red1>center_pos){
            pull(0.3);
        }else if(Red1<center_pos){
            loose(0.3);
        }
        if(abs(Red1-center_pos)<0.1){
            Open1();
            pos1_flag=1;
        }
    
        if(Red2>center_pos){
            Back2();
        }else if(Red2<center_pos){
            Forward2();
        }
        if(abs(Red2-center_pos)<0.1){
            Open2();
            pos2_flag=1;
        }
    
        if(pos1_flag == 1 && pos2_flag ==1) break;
    }
}