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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