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
motor_driver.h
- Committer:
- jdawkins
- Date:
- 2018-04-03
- Revision:
- 9:3aa9b689bda5
- Parent:
- 8:9817993e5df7
File content as of revision 9:3aa9b689bda5:
DigitalOut mot_ph1(p23, 0); DigitalOut mot_ph2(p24, 0); PwmOut mot_en(p25); 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; } }