USNA WSE ES456 / Mbed 2 deprecated Emaxx_Navigation_madpulse

Emaxx Navigation code ported for MBED

Dependencies:   BNO055_fusion Emaxx_Navigation_Dynamic_HIL MODSERIAL ServoIn ServoOut Vehicle_Model mbed

Fork of Emaxx_Navigation_Dynamic_HIL by Emaxx Navigation Group

motor_driver.h@9:3aa9b689bda5, 2018-04-03 (annotated)

Committer:
jdawkins
Date:
Tue Apr 03 12:52:52 2018 +0000
Revision:
9:3aa9b689bda5
Parent:
8:9817993e5df7 
Publish Code for MIDS

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jdawkins 8:9817993e5df7 1
jdawkins 9:3aa9b689bda5 2 DigitalOut mot_ph1(p23, 0);
jdawkins 9:3aa9b689bda5 3 DigitalOut mot_ph2(p24, 0);
jdawkins 9:3aa9b689bda5 4 PwmOut mot_en(p25);
jdawkins 8:9817993e5df7 5
jdawkins 8:9817993e5df7 6 void mot_control(float dc){
jdawkins 8:9817993e5df7 7 if(dc>1.0)
jdawkins 8:9817993e5df7 8 dc=1.0;
jdawkins 8:9817993e5df7 9
jdawkins 8:9817993e5df7 10 if(dc<-1.0)
jdawkins 8:9817993e5df7 11 dc=-1.0;
jdawkins 8:9817993e5df7 12
jdawkins 8:9817993e5df7 13 if(dc > 0.0){
jdawkins 8:9817993e5df7 14 mot_ph2 = 0;
jdawkins 8:9817993e5df7 15 mot_ph1 = 1;
jdawkins 8:9817993e5df7 16 mot_en = dc;
jdawkins 8:9817993e5df7 17 }
jdawkins 8:9817993e5df7 18 else if(dc < -0.0){
jdawkins 8:9817993e5df7 19 mot_ph1 = 0;
jdawkins 8:9817993e5df7 20 mot_ph2 = 1;
jdawkins 8:9817993e5df7 21 mot_en = abs(dc);
jdawkins 8:9817993e5df7 22 }
jdawkins 8:9817993e5df7 23 else{
jdawkins 8:9817993e5df7 24 mot_ph1 = 0;
jdawkins 8:9817993e5df7 25 mot_ph2 = 0;
jdawkins 8:9817993e5df7 26 mot_en = 0.0;
jdawkins 8:9817993e5df7 27 }
jdawkins 8:9817993e5df7 28
jdawkins 8:9817993e5df7 29 }