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@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?
User | Revision | Line number | New 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 | } |