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Dependencies:   mbed MPU6050

chassis_mode.cpp@9:1b54bac6d9a7, 2019-10-03 (annotated)

Committer:
GaspardD
Date:
Thu Oct 03 23:28:56 2019 +0000
Revision:
9:1b54bac6d9a7
Parent:
8:f23601373e8b
Child:
15:0f89d1ff860d
a tester ;

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 = false;
GaspardD 9:1b54bac6d9a7 13 d_CHASSIS_inversion = -1.0;
GaspardD 9:1b54bac6d9a7 14 d_CHASSIS_dist_one_step_odom = 0.066;
GaspardD 6:ab9f3695633f 15 } else {
GaspardD 8:f23601373e8b 16 b_CHASSIS_with_pushbutton = true;
GaspardD 9:1b54bac6d9a7 17 d_CHASSIS_inversion = 1.0;
GaspardD 8:f23601373e8b 18 d_CHASSIS_dist_one_step_odom = 0.066;
GaspardD 6:ab9f3695633f 19 }
GaspardD 6:ab9f3695633f 20 return;
GaspardD 6:ab9f3695633f 21 }