Diff: calibration.cpp

Revision:

1:924bead61d21

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/calibration.cpp	Tue Jun 27 20:54:33 2017 +0000
@@ -0,0 +1,26 @@
+#include "calibration.h"
+#include "DRV8825.h"
+#include "motors.h"
+ 
+extern Serial pc;
+extern DRV8825 stpr_mtr1;
+extern DRV8825 stpr_mtr2;
+ 
+void calibrate(char motor, char* direction){
+    int i,j, dir;
+    pc.printf("Direction = %s\n", (strcmp(direction,"left")==0)?"left":"right");
+    pc.printf("Motor = %c\n", motor=='a' ? 'a':'b');
+    if((strcmp(direction,"right")==0 && motor=='a') || (strcmp(direction,"left")==0 && motor=='b')) dir=1; else dir=0;
+    for(j=0; j<200; j++) {                           //500 rotations
+        for (i = 500; i < MAX_SPEED; i+=100) {
+            if (motor=='a') stpr_mtr1.settings(1, dir, i);
+            else stpr_mtr2.settings(1, dir, i);
+        }
+    }
+}
+ 
+void test_interrupts() {
+    
+}
+ 
+