Diff: main.cpp

Revision:

0:59d25bb7f825

Child:

1:2bab3a0bc3bc

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Feb 04 16:55:27 2015 +0000
@@ -0,0 +1,190 @@
+#include "mbed.h"
+
+//motor select pins
+DigitalOut motor_lf(PTE2);
+DigitalOut motor_lb(PTE3);
+DigitalOut motor_rf(PTE4);
+DigitalOut motor_rb(PTE5);
+
+//Frequency of Pulse Width Modulated signal in Hz
+#define PWM_FREQ          1000
+
+//PWM pin (Enable 1 and 2)
+PwmOut motor_l (PTC2);
+PwmOut motor_r (PTE29);
+
+//LED to test
+DigitalOut myled(LED_RED);
+/*
+Pivot Right: //Change duties for speed
+motor_rf=0;
+motor_rb=0;
+motor_lf=1;
+motor_lb=0;
+Pivot Left: //Change duties for speed
+motor_rf=1;
+motor_rb=0;
+motor_lf=0;
+motor_lb=0;
+Forwards: //Change duties for speed & direction
+motor_rf=1;
+motor_rb=0;
+motor_lf=1;
+motor_lb=0;
+Backwards: //Change duties for speed & direction
+motor_rf=0;
+motor_rb=1;
+motor_lf=0;
+motor_lb=1;
+*/
+void set_direction( int nature_of_direction, float speed)
+{
+    switch(nature_of_direction) {
+        case "forward": {
+            motor_r.write(speed + angle); //where angle can be postive and negative and will TURN the robot
+            motor_l.write(speed - angle);
+            //if turning left, you'd make the angle postive (right motor goes faster left motor goes slwoer)
+            motor_rf=1;
+            motor_rb=0;
+            motor_lf=1;
+            motor_lb=0;
+        }
+        case "backwards": {
+            motor_r.write(speed + angle); //where angle can be postive and negative and will TURN the robot
+            motor_l.write(speed - angle);
+            //if turning left, you'd make the angle postive (right motor goes faster left motor goes slwoer)
+            motor_rf=0;
+            motor_rb=1;
+            motor_lf=0;
+            motor_lb=1;
+        }
+        case "pivot right": {
+            motor_r.write(0); //motor doesn't need to be enabled
+            motor_l.write(speed);
+
+            motor_rf=0;
+            motor_rb=0;
+            motor_lf=1;
+            motor_lb=0;
+        }
+        case "pivot left": {
+            motor_r.write(speed);
+            motor_l.write(0); //motor doesn't need to be enabled
+
+            motor_rf=1;
+            motor_rb=0;
+            motor_lf=0;
+            motor_lb=0;
+        }
+    }
+}
+
+int main()
+{
+
+    //Set PWM frequency to 1000Hz
+    motor_l.period( 1.0f / (float) PWM_FREQ);
+    motor_r.period( 1.0f / (float) PWM_FREQ);
+//Initialise direction to nothing.
+    motor_rf=0;
+    motor_rb=0;
+    motor_lf=0;
+    motor_lb=0;
+
+
+    while(1) { //infinite loop
+        //***********************************************
+        myled = !myled;
+
+        //Set duty cycle at 100% AKA Full Speed
+        motor_r.write(1.0);
+        motor_l.write(1.0);
+
+        motor_rf=1;
+        motor_rb=0;
+        motor_lf=1;
+        motor_lb=0; //go forwards
+        wait(2);
+        //**************************************
+        myled = !myled;
+
+        motor_r.write(0.75);
+        motor_l.write(0.75);
+
+        motor_rf=1;
+        motor_rb=0;
+        motor_lf=1;
+        motor_lb=0; //go forwards
+        //
+        wait(2);
+
+        myled = !myled;
+
+        motor_r.write(0.5);
+        motor_l.write(0.5);
+
+        motor_rf=1;
+        motor_rb=0;
+        motor_lf=1;
+        motor_lb=0;
+
+
+        wait(2);
+        myled = !myled;
+
+        motor_r.write(0.30);
+        motor_l.write(0.30);
+
+        motor_rf=1;
+        motor_rb=0;
+        motor_lf=1;
+        motor_lb=0;
+
+        wait(2);
+
+        myled = !myled;
+        motor_r.write(1.0);
+        motor_l.write(1.0);
+
+        motor_rf=0;
+        motor_rb=1;
+        motor_lf=0;
+        motor_lb=1; //go forwards
+        //
+        wait(2);
+
+
+
+        myled = !myled;
+        motor_r.write(0.5);
+        motor_l.write(0.5);
+
+        motor_rf=0;
+        motor_rb=0;
+        motor_lf=0;
+        motor_lb=1; //
+
+        wait(2);
+        myled = !myled;
+
+        motor_rf=0;
+        motor_rb=1;
+        motor_lf=0;
+        motor_lb=0; //reverse turn
+
+        wait(2);
+
+        myled = !myled;
+        motor_r.write(0.5);
+        motor_l.write(1.0);
+
+        motor_rf=1;
+        motor_rb=0;
+        motor_lf=1;
+        motor_lb=0; //go forwards
+        //
+        wait(4);
+
+    }
+
+}