SOFT564Z Group 3 / Mbed 2 deprecated SOFT564Z_Group_3v3

with the tof code

Dependencies:   mbed Servo ros_lib_kinetic

Motors/Motor.cpp@2:6197e1cf2cd1, 2019-10-24 (annotated)

Committer:
Stumi
Date:
Thu Oct 24 14:24:27 2019 +0000
Revision:
2:6197e1cf2cd1
Child:
3:df6160e2f6d9
Motor code successfully integrated

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Stumi 2:6197e1cf2cd1 1 /*--------------------------------------------------------------------------------
Stumi 2:6197e1cf2cd1 2 Filename: main.cpp
Stumi 2:6197e1cf2cd1 3 Description: Main program loop
Stumi 2:6197e1cf2cd1 4 --------------------------------------------------------------------------------*/
Stumi 2:6197e1cf2cd1 5
Stumi 2:6197e1cf2cd1 6 #include "Motor.h"
Stumi 2:6197e1cf2cd1 7
Stumi 2:6197e1cf2cd1 8 /*--------------------------------------------------------------------------------
Stumi 2:6197e1cf2cd1 9 Function name: cMotor
Stumi 2:6197e1cf2cd1 10 Input Parameters: PwmOut pwm - Motor PWM, DigitalOut fwd - Motor input1, DigitalOut rev - Motor Input2
Stumi 2:6197e1cf2cd1 11 Output Parameters: N/A
Stumi 2:6197e1cf2cd1 12 Description: Class constructor (Initialisation upon creating class)
Stumi 2:6197e1cf2cd1 13 ----------------------------------------------------------------------------------*/
Stumi 2:6197e1cf2cd1 14 cMotor::cMotor(PwmOut pwm, DigitalOut fwd, DigitalOut rev):_pwm(pwm), _fwd(fwd), _rev(rev){
Stumi 2:6197e1cf2cd1 15
Stumi 2:6197e1cf2cd1 16 // Set initial condition of PWM
Stumi 2:6197e1cf2cd1 17 _pwm.period(0.001); //1KHz
Stumi 2:6197e1cf2cd1 18 _pwm = 0;
Stumi 2:6197e1cf2cd1 19
Stumi 2:6197e1cf2cd1 20 // Initial condition of output enables
Stumi 2:6197e1cf2cd1 21 _fwd = 0;
Stumi 2:6197e1cf2cd1 22 _rev = 0;
Stumi 2:6197e1cf2cd1 23 }
Stumi 2:6197e1cf2cd1 24
Stumi 2:6197e1cf2cd1 25 /*--------------------------------------------------------------------------------
Stumi 2:6197e1cf2cd1 26 Function name: Forwards
Stumi 2:6197e1cf2cd1 27 Input Parameters: float speed - PWM duty between 0-1
Stumi 2:6197e1cf2cd1 28 Output Parameters: N/A
Stumi 2:6197e1cf2cd1 29 Description: Drives the motor forwards at a designated speed
Stumi 2:6197e1cf2cd1 30 ----------------------------------------------------------------------------------*/
Stumi 2:6197e1cf2cd1 31 void cMotor::Forwards(float speed){
Stumi 2:6197e1cf2cd1 32 _fwd = 1;
Stumi 2:6197e1cf2cd1 33 _rev = 0;
Stumi 2:6197e1cf2cd1 34 _pwm = speed;
Stumi 2:6197e1cf2cd1 35 }
Stumi 2:6197e1cf2cd1 36
Stumi 2:6197e1cf2cd1 37 /*--------------------------------------------------------------------------------
Stumi 2:6197e1cf2cd1 38 Function name: Backwards
Stumi 2:6197e1cf2cd1 39 Input Parameters: float speed - PWM duty between 0-1
Stumi 2:6197e1cf2cd1 40 Output Parameters: N/A
Stumi 2:6197e1cf2cd1 41 Description: Drives the motor backwards at a designated speed
Stumi 2:6197e1cf2cd1 42 ----------------------------------------------------------------------------------*/
Stumi 2:6197e1cf2cd1 43 void cMotor::Backwards(float speed){
Stumi 2:6197e1cf2cd1 44 _fwd = 0;
Stumi 2:6197e1cf2cd1 45 _rev = 1;
Stumi 2:6197e1cf2cd1 46 _pwm = speed;
Stumi 2:6197e1cf2cd1 47 }