Diff: PWM/CarPWM.cpp

Revision:

0:8f5db5085df7

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PWM/CarPWM.cpp	Mon Sep 21 21:42:07 2020 +0000
@@ -0,0 +1,38 @@
+#include "CarPWM.h"
+#include "mbed.h"
+
+#define MINIMUM_MOTOR_WIDTH 1160 // microseconds
+#define ZERO_MOTOR_WIDTH 1505    // microseconds
+#define MAXIMUM_MOTOR_WIDTH 1910 // microseconds
+#define MINIMUM_SERVO_WIDTH 1016 // microseconds
+#define ZERO_SERVO_WIDTH 1470    // microseconds
+#define MAXIMUM_SERVO_WIDTH 1858 // microseconds
+#define PERIOD 13500             // miliseconds
+#define MOTOR_RANGE_MAX 100
+#define SERVO_ANGLE_MAX 100
+
+void initialize(PwmOut motor, PwmOut servo){
+    motor.period_us(PERIOD);
+    servo.period_us(PERIOD);
+    }
+void setServoPWM(float angle, PwmOut servo){
+    if(angle > SERVO_ANGLE_MAX)
+        angle = SERVO_ANGLE_MAX;
+    else if(angle < -SERVO_ANGLE_MAX)
+        angle = - SERVO_ANGLE_MAX;
+    float servo_width = ZERO_SERVO_WIDTH + (angle/SERVO_ANGLE_MAX)*(MAXIMUM_SERVO_WIDTH - ZERO_SERVO_WIDTH); 
+    servo.pulsewidth_us(servo_width);
+   // Serial pc(USBTX, USBRX);
+   // pc.printf("\nServo: %f ",servo_width);
+}
+void setMotorPWM(float speed, PwmOut motor){
+    if(speed > MOTOR_RANGE_MAX)
+        speed = MOTOR_RANGE_MAX;
+    else if(speed < -MOTOR_RANGE_MAX)
+        speed = - MOTOR_RANGE_MAX;
+    float motor_speed = ZERO_MOTOR_WIDTH + (speed/MOTOR_RANGE_MAX)*(MAXIMUM_MOTOR_WIDTH - ZERO_MOTOR_WIDTH); 
+    motor.pulsewidth_us(motor_speed);
+  //  Serial pc(USBTX, USBRX);
+  //  pc.printf("Motor: %f ",motor_speed);
+
+}
\ No newline at end of file