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Dependencies:   mbed MPU6050

chassis_mode.cpp@15:0f89d1ff860d, 2019-10-05 (annotated)

Committer:
ohlimi2
Date:
Sat Oct 05 01:32:50 2019 +0000
Revision:
15:0f89d1ff860d
Parent:
9:1b54bac6d9a7 
Pour le mordor

Who changed what in which revision?

UserRevisionLine numberNew contents of line
GaspardD 6:ab9f3695633f 1 #include "chassis_mode.h"
GaspardD 6:ab9f3695633f 2
GaspardD 8:f23601373e8b 3 DigitalIn b_CHASSIS_Mode(PE_11);
GaspardD 8:f23601373e8b 4 bool b_CHASSIS_with_pushbutton;
GaspardD 8:f23601373e8b 5 double d_CHASSIS_dist_one_step_odom;
GaspardD 9:1b54bac6d9a7 6 double d_CHASSIS_inversion = 1.0;
GaspardD 6:ab9f3695633f 7
GaspardD 6:ab9f3695633f 8 void init_chassis_mode()
GaspardD 6:ab9f3695633f 9 {
GaspardD 8:f23601373e8b 10 b_CHASSIS_Mode.mode(PullUp);
GaspardD 8:f23601373e8b 11 if(b_CHASSIS_Mode.read()) {
GaspardD 8:f23601373e8b 12 b_CHASSIS_with_pushbutton = true;
GaspardD 9:1b54bac6d9a7 13 d_CHASSIS_inversion = 1.0;
GaspardD 8:f23601373e8b 14 d_CHASSIS_dist_one_step_odom = 0.066;
ohlimi2 15:0f89d1ff860d 15
ohlimi2 15:0f89d1ff860d 16
ohlimi2 15:0f89d1ff860d 17
ohlimi2 15:0f89d1ff860d 18
ohlimi2 15:0f89d1ff860d 19
ohlimi2 15:0f89d1ff860d 20 // b_CHASSIS_with_pushbutton = false;
ohlimi2 15:0f89d1ff860d 21 // d_CHASSIS_inversion = -1.0;
ohlimi2 15:0f89d1ff860d 22 // d_CHASSIS_dist_one_step_odom = 0.066;
ohlimi2 15:0f89d1ff860d 23 } else {
ohlimi2 15:0f89d1ff860d 24 // b_CHASSIS_with_pushbutton = true;
ohlimi2 15:0f89d1ff860d 25 // d_CHASSIS_inversion = 1.0;
ohlimi2 15:0f89d1ff860d 26 // d_CHASSIS_dist_one_step_odom = 0.066;
ohlimi2 15:0f89d1ff860d 27
ohlimi2 15:0f89d1ff860d 28 b_CHASSIS_with_pushbutton = false;
ohlimi2 15:0f89d1ff860d 29 d_CHASSIS_inversion = -1.0;
ohlimi2 15:0f89d1ff860d 30 d_CHASSIS_dist_one_step_odom = 0.066;
GaspardD 6:ab9f3695633f 31 }
GaspardD 6:ab9f3695633f 32 return;
GaspardD 6:ab9f3695633f 33 }