jetfishteam / Mbed 2 deprecated jetfish

the fish that looks like a jet

Dependencies:   ADXL345 ADXL345_I2C IMUfilter ITG3200 mbed Servo

motor_controller.cpp@0:ff9bc5f69c57, 2014-01-21 (annotated)

Committer:
sandwich
Date:
Tue Jan 21 21:32:05 2014 +0000
Revision:
0:ff9bc5f69c57
Child:
5:090ef6275773
pololu motor controller works with sine waveform input. IMU is untested

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sandwich 0:ff9bc5f69c57 1 #include "motor_controller.h"
sandwich 0:ff9bc5f69c57 2
sandwich 0:ff9bc5f69c57 3 PololuMController::PololuMController(PinName pwmport, PinName A, PinName B)
sandwich 0:ff9bc5f69c57 4 {
sandwich 0:ff9bc5f69c57 5 pwm=new PwmOut(pwmport);
sandwich 0:ff9bc5f69c57 6 outA=new DigitalOut(A);
sandwich 0:ff9bc5f69c57 7 outB=new DigitalOut(B);
sandwich 0:ff9bc5f69c57 8 outA->write(0);
sandwich 0:ff9bc5f69c57 9 outB->write(1);
sandwich 0:ff9bc5f69c57 10 timestamp=0;
sandwich 0:ff9bc5f69c57 11 }
sandwich 0:ff9bc5f69c57 12
sandwich 0:ff9bc5f69c57 13 PololuMController::~PololuMController()
sandwich 0:ff9bc5f69c57 14 {
sandwich 0:ff9bc5f69c57 15 delete pwm;
sandwich 0:ff9bc5f69c57 16 delete outA;
sandwich 0:ff9bc5f69c57 17 delete outB;
sandwich 0:ff9bc5f69c57 18 }
sandwich 0:ff9bc5f69c57 19
sandwich 0:ff9bc5f69c57 20 void PololuMController::setspeed(float speed)
sandwich 0:ff9bc5f69c57 21 {
sandwich 0:ff9bc5f69c57 22 pwm->write(speed);
sandwich 0:ff9bc5f69c57 23 return;
sandwich 0:ff9bc5f69c57 24 }
sandwich 0:ff9bc5f69c57 25
sandwich 0:ff9bc5f69c57 26 void PololuMController::setpolarspeed(float speed)
sandwich 0:ff9bc5f69c57 27 {
sandwich 0:ff9bc5f69c57 28 if (speed>=0)
sandwich 0:ff9bc5f69c57 29 {
sandwich 0:ff9bc5f69c57 30 outA->write(0);
sandwich 0:ff9bc5f69c57 31 outB->write(1);
sandwich 0:ff9bc5f69c57 32 pwm->write(abs(speed));
sandwich 0:ff9bc5f69c57 33 }
sandwich 0:ff9bc5f69c57 34 else
sandwich 0:ff9bc5f69c57 35 {
sandwich 0:ff9bc5f69c57 36 outA->write(1);
sandwich 0:ff9bc5f69c57 37 outB->write(0);
sandwich 0:ff9bc5f69c57 38 pwm->write(abs(speed));
sandwich 0:ff9bc5f69c57 39 }
sandwich 0:ff9bc5f69c57 40 return;
sandwich 0:ff9bc5f69c57 41 }
sandwich 0:ff9bc5f69c57 42
sandwich 0:ff9bc5f69c57 43 void PololuMController::reverse()
sandwich 0:ff9bc5f69c57 44 {
sandwich 0:ff9bc5f69c57 45 outA->write(!(outA->read()));
sandwich 0:ff9bc5f69c57 46 outB->write(!(outB->read()));
sandwich 0:ff9bc5f69c57 47 return;
sandwich 0:ff9bc5f69c57 48 }
sandwich 0:ff9bc5f69c57 49
sandwich 0:ff9bc5f69c57 50 void PololuMController::drive_sinusoidal(float cur_time, float a, float w, float phi)
sandwich 0:ff9bc5f69c57 51 {
sandwich 0:ff9bc5f69c57 52 setpolarspeed(a*sin(w*cur_time+phi));
sandwich 0:ff9bc5f69c57 53 return;
sandwich 0:ff9bc5f69c57 54 }