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

Diff: motor_driver.h

Revision:
8:9817993e5df7
Child:
9:3aa9b689bda5
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/motor_driver.h	Fri Apr 07 17:12:29 2017 +0000
@@ -0,0 +1,29 @@
+
+DigitalOut mot_ph1(p29, 0);       
+DigitalOut mot_ph2(p30, 0);
+PwmOut mot_en(p26);
+
+void mot_control(float dc){        
+    if(dc>1.0)
+        dc=1.0;
+        
+    if(dc<-1.0)
+        dc=-1.0;
+    
+        if(dc > 0.0){
+            mot_ph2 = 0;
+            mot_ph1 = 1;
+            mot_en = dc;
+        }
+        else if(dc < -0.0){
+            mot_ph1 = 0;
+            mot_ph2 = 1;
+            mot_en = abs(dc);
+        }
+        else{
+            mot_ph1 = 0;
+            mot_ph2 = 0;
+            mot_en = 0.0;
+        }
+                       
+}
\ No newline at end of file