TrekkingPhoenix / Mbed 2 deprecated Trekking_Controller_refac

Refactoring Ironcup 2020

Dependencies:   mbed mbed-rtos MotionSensor EthernetInterface

PWM/CarPWM.cpp@0:8f5db5085df7, 2020-09-21 (annotated)

Committer:
starling
Date:
Mon Sep 21 21:42:07 2020 +0000
Revision:
0:8f5db5085df7
12 mar 2020

Who changed what in which revision?

UserRevisionLine numberNew contents of line
starling 0:8f5db5085df7 1 #include "CarPWM.h"
starling 0:8f5db5085df7 2 #include "mbed.h"
starling 0:8f5db5085df7 3
starling 0:8f5db5085df7 4 #define MINIMUM_MOTOR_WIDTH 1160 // microseconds
starling 0:8f5db5085df7 5 #define ZERO_MOTOR_WIDTH 1505 // microseconds
starling 0:8f5db5085df7 6 #define MAXIMUM_MOTOR_WIDTH 1910 // microseconds
starling 0:8f5db5085df7 7 #define MINIMUM_SERVO_WIDTH 1016 // microseconds
starling 0:8f5db5085df7 8 #define ZERO_SERVO_WIDTH 1470 // microseconds
starling 0:8f5db5085df7 9 #define MAXIMUM_SERVO_WIDTH 1858 // microseconds
starling 0:8f5db5085df7 10 #define PERIOD 13500 // miliseconds
starling 0:8f5db5085df7 11 #define MOTOR_RANGE_MAX 100
starling 0:8f5db5085df7 12 #define SERVO_ANGLE_MAX 100
starling 0:8f5db5085df7 13
starling 0:8f5db5085df7 14 void initialize(PwmOut motor, PwmOut servo){
starling 0:8f5db5085df7 15 motor.period_us(PERIOD);
starling 0:8f5db5085df7 16 servo.period_us(PERIOD);
starling 0:8f5db5085df7 17 }
starling 0:8f5db5085df7 18 void setServoPWM(float angle, PwmOut servo){
starling 0:8f5db5085df7 19 if(angle > SERVO_ANGLE_MAX)
starling 0:8f5db5085df7 20 angle = SERVO_ANGLE_MAX;
starling 0:8f5db5085df7 21 else if(angle < -SERVO_ANGLE_MAX)
starling 0:8f5db5085df7 22 angle = - SERVO_ANGLE_MAX;
starling 0:8f5db5085df7 23 float servo_width = ZERO_SERVO_WIDTH + (angle/SERVO_ANGLE_MAX)*(MAXIMUM_SERVO_WIDTH - ZERO_SERVO_WIDTH);
starling 0:8f5db5085df7 24 servo.pulsewidth_us(servo_width);
starling 0:8f5db5085df7 25 // Serial pc(USBTX, USBRX);
starling 0:8f5db5085df7 26 // pc.printf("\nServo: %f ",servo_width);
starling 0:8f5db5085df7 27 }
starling 0:8f5db5085df7 28 void setMotorPWM(float speed, PwmOut motor){
starling 0:8f5db5085df7 29 if(speed > MOTOR_RANGE_MAX)
starling 0:8f5db5085df7 30 speed = MOTOR_RANGE_MAX;
starling 0:8f5db5085df7 31 else if(speed < -MOTOR_RANGE_MAX)
starling 0:8f5db5085df7 32 speed = - MOTOR_RANGE_MAX;
starling 0:8f5db5085df7 33 float motor_speed = ZERO_MOTOR_WIDTH + (speed/MOTOR_RANGE_MAX)*(MAXIMUM_MOTOR_WIDTH - ZERO_MOTOR_WIDTH);
starling 0:8f5db5085df7 34 motor.pulsewidth_us(motor_speed);
starling 0:8f5db5085df7 35 // Serial pc(USBTX, USBRX);
starling 0:8f5db5085df7 36 // pc.printf("Motor: %f ",motor_speed);
starling 0:8f5db5085df7 37
starling 0:8f5db5085df7 38 }