Texas State IEEE
A simple program to check the operation of the motors
Dependencies: mbed
Revision 0:9dba1f8fc770, committed 2014-10-24
- Comitter:
- Hypna
- Date:
- Fri Oct 24 22:00:49 2014 +0000
- Commit message:
- Something simple to make sure we've correctly wired the bot
Changed in this revision
| MotorSystemTest.cpp | Show annotated file Show diff for this revision Revisions of this file |
| mbed.bld | Show annotated file Show diff for this revision Revisions of this file |
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/MotorSystemTest.cpp Fri Oct 24 22:00:49 2014 +0000
@@ -0,0 +1,70 @@
+#include "mbed.h"
+
+#define MOTOR_SCALE 0.25
+
+void forward();
+void backward();
+void left();
+void right();
+
+PwmOut whl1Spd(PTB0);
+PwmOut whl2Spd(PTB1);
+PwmOut whl3Spd(PTB2);
+PwmOut whl4Spd(PTB3);
+
+DigitalOut whl1Dir(PTE20);
+DigitalOut whl2Dir(PTE21);
+DigitalOut whl3Dir(PTE22);
+DigitalOut whl4Dir(PTE23);
+
+int main()
+{
+ for(int i = 0; i < 10; i++)
+ {
+ forward();
+ wait(1);
+ backward();
+ wait(1);
+ left();
+ wait(1);
+ right();
+ wait(1);
+ }
+
+ return 0;
+}
+
+void forward()
+{
+ whl1Dir = whl2Dir = whl3Dir = whl4Dir = 1;
+ whl1Spd = whl2Spd = whl3Spd = whl4Spd = 1*MOTOR_SCALE;
+ wait(2);
+ whl1Spd = whl2Spd = whl3Spd = whl4Spd = 0;
+}
+
+void backward()
+{
+ whl1Dir = whl2Dir = whl3Dir = whl4Dir = 0;
+ whl1Spd = whl2Spd = whl3Spd = whl4Spd = 1*MOTOR_SCALE;
+ wait(2);
+ whl1Spd = whl2Spd = whl3Spd = whl4Spd = 0;
+}
+
+void left()
+{
+ whl2Dir = whl4Dir = 1;
+ whl1Dir = whl3Dir = 0;
+ whl1Spd = whl2Spd = whl3Spd = whl4Spd = 1*MOTOR_SCALE;
+ wait(2);
+ whl1Spd = whl2Spd = whl3Spd = whl4Spd = 0;
+
+}
+
+void right()
+{
+ whl2Dir = whl4Dir = 0;
+ whl1Dir = whl3Dir = 1;
+ whl1Spd = whl2Spd = whl3Spd = whl4Spd = 1*MOTOR_SCALE;
+ wait(2);
+ whl1Spd = whl2Spd = whl3Spd = whl4Spd = 0;
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Fri Oct 24 22:00:49 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/552587b429a1 \ No newline at end of file