TrekkingPhoenix / Mbed 2 deprecated TrekkingControllerV1-4_WinterChallenge20

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed mbed-rtos MotionSensor EthernetInterface

Motor/Motor.cpp@14:e8cd237c8639, 2016-05-01 (annotated)

Committer:
drelliak
Date:
Sun May 01 23:01:27 2016 +0000
Revision:
14:e8cd237c8639
Parent:
12:273752f540be
Child:
20:7138ab2f93f7
Some minor fixes

Who changed what in which revision?

UserRevisionLine numberNew contents of line
drelliak 12:273752f540be 1 #include "mbed.h"
drelliak 12:273752f540be 2 #include "CarPWM.h"
drelliak 12:273752f540be 3 #include "Motor.h"
drelliak 12:273752f540be 4
drelliak 12:273752f540be 5 #define PI 3.141592653589793238462
drelliak 12:273752f540be 6 #define Ts 0.02 // Seconds
drelliak 12:273752f540be 7 #define PWM_PERIOD 13.5 // ms
drelliak 12:273752f540be 8 #define BRAKE_CONSTANT 40
drelliak 12:273752f540be 9 #define BRAKE_WAIT 2
drelliak 12:273752f540be 10 #define END_THRESH 4
drelliak 12:273752f540be 11 #define START_THRESH 10
drelliak 12:273752f540be 12 #define MINIMUM_VELOCITY 15
drelliak 12:273752f540be 13
drelliak 12:273752f540be 14 void Motor(){
drelliak 12:273752f540be 15 PwmOut motor(PTD1);
drelliak 12:273752f540be 16 }
drelliak 12:273752f540be 17
drelliak 12:273752f540be 18 void Motor::startJogging(float jog_dc, float jog_p){
drelliak 12:273752f540be 19 jog_duty_cycle = jog_dc;
drelliak 12:273752f540be 20 jog_period = jog_p;
drelliak 12:273752f540be 21 interruption.attach(this,&Motor::motorJogging, jog_duty_cycle*jog_period);
drelliak 12:273752f540be 22 }
drelliak 12:273752f540be 23
drelliak 12:273752f540be 24 void Motor::stopJogging(void){
drelliak 12:273752f540be 25 interruption.detach();
drelliak 14:e8cd237c8639 26 setMotorPWM(velocity,motor);
drelliak 12:273752f540be 27 }
drelliak 12:273752f540be 28
drelliak 12:273752f540be 29 void Motor::motorJogging(void) {
drelliak 12:273752f540be 30 interruption.detach();
drelliak 12:273752f540be 31 if(!alternate_motor){
drelliak 12:273752f540be 32 setMotorPWM(velocity, motor);
drelliak 12:273752f540be 33 interruption.attach(this,&Motor::motorJogging, jog_duty_cycle*jog_period);
drelliak 12:273752f540be 34 }
drelliak 12:273752f540be 35 else{
drelliak 12:273752f540be 36 setMotorPWM(10, motor);
drelliak 12:273752f540be 37 interruption.attach(this,&Motor::motorJogging, (1-jog_duty_cycle)*jog_period);
drelliak 12:273752f540be 38 }
drelliak 12:273752f540be 39 alternate_motor = !alternate_motor;
drelliak 12:273752f540be 40 }
drelliak 12:273752f540be 41
drelliak 12:273752f540be 42 void Motor::brakeMotor(void){
drelliak 12:273752f540be 43 stopJogging();
drelliak 12:273752f540be 44 if(velocity >= 0){
drelliak 12:273752f540be 45 setMotorPWM(-BRAKE_CONSTANT, motor);
drelliak 12:273752f540be 46 wait(BRAKE_WAIT);
drelliak 12:273752f540be 47 velocity = 0;
drelliak 12:273752f540be 48 setMotorPWM(velocity,motor);
drelliak 12:273752f540be 49 }
drelliak 12:273752f540be 50 else {
drelliak 12:273752f540be 51 setVelocity(0);
drelliak 12:273752f540be 52 }
drelliak 12:273752f540be 53 }
drelliak 12:273752f540be 54
drelliak 12:273752f540be 55 void Motor::reverseMotor(int speed){
drelliak 12:273752f540be 56 for(int i=0 ; i >= -speed; i--){
drelliak 12:273752f540be 57 setMotorPWM((float)i,motor);
drelliak 12:273752f540be 58 wait_ms(13.5);
drelliak 12:273752f540be 59 }
drelliak 12:273752f540be 60 for(int i=-speed ; i <= 0; i++){
drelliak 12:273752f540be 61 setMotorPWM((float)i,motor);
drelliak 12:273752f540be 62 wait_ms(13.5);
drelliak 12:273752f540be 63 }
drelliak 12:273752f540be 64 for(int i=0 ; i >= -speed; i--){
drelliak 12:273752f540be 65 setMotorPWM((float)i,motor);
drelliak 12:273752f540be 66 wait_ms(13.5);
drelliak 12:273752f540be 67 }
drelliak 12:273752f540be 68 }
drelliak 12:273752f540be 69
drelliak 12:273752f540be 70 void Motor::setSmoothVelocity(int new_velocity){
drelliak 12:273752f540be 71 if( velocity > new_velocity){
drelliak 12:273752f540be 72 for(; velocity >= new_velocity; velocity--){
drelliak 12:273752f540be 73 setMotorPWM(velocity,motor);
drelliak 12:273752f540be 74 wait_ms(PWM_PERIOD);
drelliak 12:273752f540be 75 }
drelliak 12:273752f540be 76 velocity++;
drelliak 12:273752f540be 77 }
drelliak 12:273752f540be 78 else if(velocity < new_velocity){
drelliak 12:273752f540be 79 for(; velocity <= new_velocity; velocity++){
drelliak 12:273752f540be 80 setMotorPWM(velocity,motor);
drelliak 12:273752f540be 81 wait_ms(PWM_PERIOD);
drelliak 12:273752f540be 82 }
drelliak 12:273752f540be 83 velocity--;
drelliak 12:273752f540be 84 }
drelliak 12:273752f540be 85 }
drelliak 12:273752f540be 86
drelliak 12:273752f540be 87 void Motor::setVelocity(int new_velocity){
drelliak 12:273752f540be 88 setMotorPWM(new_velocity,motor);
drelliak 12:273752f540be 89 velocity = new_velocity;
drelliak 12:273752f540be 90 }