Edwin Cho / Mbed 2 deprecated FLOW_DERP

DERPS

Dependencies:   BMP280 BNO055_fusion PowerControl mbed

Fork of STRAIGHT_DRIVE_NO_SEP by Antoine Laurens

LOCOMOTION.cpp@23:455f7da3dd7a, 2016-04-03 (annotated)

Committer:
12104404
Date:
Sun Apr 03 07:08:18 2016 +0000
Revision:
23:455f7da3dd7a
Parent:
19:2dd81b864e14
Child:
24:fb1f083ebd62
Brown Out and LED calling fixed

Who changed what in which revision?

UserRevisionLine numberNew contents of line
12104404 6:0602a9e8118b 1 #include "LOCOMOTION.h"
12104404 15:7729da55873a 2
12104404 23:455f7da3dd7a 3 LOCOMOTION::LOCOMOTION (PinName en, PinName motor1F, PinName motor1B, PinName motor2F, PinName motor2B, PinName forward1, PinName forward2):
12104404 23:455f7da3dd7a 4 _en(en), _m1f(motor1F), _m1b(motor1B), _m2f(motor2F), _m2b(motor2B), _m1dir(forward1), _m2dir(forward2)
12104404 23:455f7da3dd7a 5 {
12104404 23:455f7da3dd7a 6 s=0;
12104404 23:455f7da3dd7a 7 stopMotors();
12104404 23:455f7da3dd7a 8 _m1dir=0;
12104404 23:455f7da3dd7a 9 _m2dir=0;
12104404 23:455f7da3dd7a 10 _en=1;
12104404 23:455f7da3dd7a 11 }
12104404 23:455f7da3dd7a 12
12104404 23:455f7da3dd7a 13 inline void LOCOMOTION::stopMotors(void)
12104404 15:7729da55873a 14 {
12104404 15:7729da55873a 15 _m1f=0;
12104404 15:7729da55873a 16 _m1b=0;
12104404 15:7729da55873a 17 _m2f=0;
12104404 15:7729da55873a 18 _m2b=0;
12104404 15:7729da55873a 19 }
12104404 15:7729da55873a 20
12104404 23:455f7da3dd7a 21
12104404 23:455f7da3dd7a 22 inline int LOCOMOTION::wrap(int num)
12104404 19:2dd81b864e14 23 {
12104404 23:455f7da3dd7a 24 return num%360;
12104404 23:455f7da3dd7a 25 }
12104404 23:455f7da3dd7a 26
12104404 23:455f7da3dd7a 27 void LOCOMOTION::eStop(void)
12104404 23:455f7da3dd7a 28 {
12104404 23:455f7da3dd7a 29 //Stop Motors
12104404 23:455f7da3dd7a 30 stopMotors();
12104404 23:455f7da3dd7a 31 //Disable Motor Drivers
12104404 23:455f7da3dd7a 32 _en=0;
12104404 19:2dd81b864e14 33 }
12104404 19:2dd81b864e14 34
12104404 18:f9012e93edb8 35 bool LOCOMOTION::setXPos(int target, int current, int error, int angle)
12104404 17:2f89826b5679 36 {
12104404 17:2f89826b5679 37 //s = 0;
12104404 17:2f89826b5679 38 if(abs(current-target)<=error)
12104404 17:2f89826b5679 39 s=0.07;
12104404 17:2f89826b5679 40 else
12104404 17:2f89826b5679 41 s=((0.17-0.07)*abs(current-target)/FRAME_W)+0.07;
12104404 17:2f89826b5679 42 if(current>target+error) {
12104404 18:f9012e93edb8 43 if(angle==0) {
12104404 18:f9012e93edb8 44 _m1dir=1;
12104404 18:f9012e93edb8 45 _m2dir=1;
12104404 18:f9012e93edb8 46 } else {
12104404 18:f9012e93edb8 47 _m1dir=0;
12104404 18:f9012e93edb8 48 _m2dir=0;
12104404 18:f9012e93edb8 49 }
12104404 17:2f89826b5679 50 _m1f=s;
12104404 17:2f89826b5679 51 _m1b=s;
12104404 17:2f89826b5679 52 _m2f=s;
12104404 17:2f89826b5679 53 _m2b=s;
12104404 17:2f89826b5679 54 } else if(current<target-error) {
12104404 18:f9012e93edb8 55 if(angle==0) {
12104404 18:f9012e93edb8 56 _m1dir=0;
12104404 18:f9012e93edb8 57 _m2dir=0;
12104404 18:f9012e93edb8 58 } else {
12104404 18:f9012e93edb8 59 _m1dir=1;
12104404 18:f9012e93edb8 60 _m2dir=1;
12104404 18:f9012e93edb8 61 }
12104404 17:2f89826b5679 62 _m1f=s;
12104404 17:2f89826b5679 63 _m1b=s;
12104404 17:2f89826b5679 64 _m2f=s;
12104404 17:2f89826b5679 65 _m2b=s;
12104404 17:2f89826b5679 66 } else {
12104404 19:2dd81b864e14 67 stopMotors();
12104404 17:2f89826b5679 68 return true;
12104404 17:2f89826b5679 69 }
12104404 17:2f89826b5679 70 return false;
12104404 17:2f89826b5679 71 }
12104404 17:2f89826b5679 72
12104404 18:f9012e93edb8 73 bool LOCOMOTION::setYPos(int target, int current, int error, int angle)
12104404 17:2f89826b5679 74 {
12104404 17:2f89826b5679 75 //float s = 0;
12104404 17:2f89826b5679 76 if(abs(current-target)<=error)
12104404 17:2f89826b5679 77 s=0.50;
12104404 17:2f89826b5679 78 else
12104404 17:2f89826b5679 79 s=((1-0.50)*abs(current-target)/FRAME_H)+0.50;
12104404 17:2f89826b5679 80 if(current>target+error) {
12104404 17:2f89826b5679 81 //_m1dir=1;
12104404 17:2f89826b5679 82 //_m2dir=1;
12104404 18:f9012e93edb8 83 if(angle==0) {
12104404 18:f9012e93edb8 84 _m1f=_m1f*(1+s);
12104404 18:f9012e93edb8 85 _m1b=_m1b*(1+s);
12104404 18:f9012e93edb8 86 } else {
12104404 18:f9012e93edb8 87 _m2f=_m2f*(1+s);
12104404 18:f9012e93edb8 88 _m2b=_m2b*(1+s);
12104404 18:f9012e93edb8 89 }
12104404 17:2f89826b5679 90 } else if(current<target-error) {
12104404 17:2f89826b5679 91 //_m1dir=0;
12104404 17:2f89826b5679 92 //_m2dir=0;
12104404 18:f9012e93edb8 93 if(angle==0) {
12104404 18:f9012e93edb8 94 _m2f=_m2f*(1+s);
12104404 18:f9012e93edb8 95 _m2b=_m2b*(1+s);
12104404 18:f9012e93edb8 96 } else {
12104404 18:f9012e93edb8 97 _m1f=_m1f*(1+s);
12104404 18:f9012e93edb8 98 _m1b=_m1b*(1+s);
12104404 18:f9012e93edb8 99 }
12104404 17:2f89826b5679 100 } else {
12104404 17:2f89826b5679 101 s=0;
12104404 18:f9012e93edb8 102
12104404 17:2f89826b5679 103 return true;
12104404 17:2f89826b5679 104 }
12104404 17:2f89826b5679 105 return false;
12104404 17:2f89826b5679 106 }
12104404 17:2f89826b5679 107
12104404 15:7729da55873a 108 bool LOCOMOTION::setAngle(int target, int current, int error, int mode)
12104404 15:7729da55873a 109 {
12104404 17:2f89826b5679 110 s = 0;
12104404 15:7729da55873a 111 int diff = 0;
12104404 15:7729da55873a 112 diff = 180-wrap(target);
12104404 15:7729da55873a 113 if(abs(wrap(current+diff)-180)<=error)
12104404 15:7729da55873a 114 s=SPEED_TURN_MIN;
12104404 15:7729da55873a 115 else
12104404 15:7729da55873a 116 s=((SPEED_TURN_MAX-SPEED_TURN_MIN)*abs(wrap(current+diff)-180)/180)+SPEED_TURN_MIN;
12104404 15:7729da55873a 117 switch(mode) {
12104404 15:7729da55873a 118 case ANGLE_TURN:
12104404 16:d6f15a13c3aa 119 if(wrap(current+diff)>180+error) {
12104404 16:d6f15a13c3aa 120 _m1dir=1;
12104404 16:d6f15a13c3aa 121 _m2dir=0;
12104404 16:d6f15a13c3aa 122 _m1f=s;
12104404 16:d6f15a13c3aa 123 _m1b=s;
12104404 16:d6f15a13c3aa 124 _m2f=s;
12104404 16:d6f15a13c3aa 125 _m2b=s;
12104404 16:d6f15a13c3aa 126 } else if(wrap(current+diff)<180-error) {
12104404 16:d6f15a13c3aa 127 _m1dir=0;
12104404 16:d6f15a13c3aa 128 _m2dir=1;
12104404 16:d6f15a13c3aa 129 _m1f=s;
12104404 16:d6f15a13c3aa 130 _m1b=s;
12104404 16:d6f15a13c3aa 131 _m2f=s;
12104404 16:d6f15a13c3aa 132 _m2b=s;
12104404 16:d6f15a13c3aa 133 } else {
12104404 19:2dd81b864e14 134 stopMotors();
12104404 16:d6f15a13c3aa 135 return true;
12104404 16:d6f15a13c3aa 136 }
12104404 15:7729da55873a 137 break;
12104404 15:7729da55873a 138 case ANGLE_BIAS:
12104404 15:7729da55873a 139
12104404 15:7729da55873a 140 break;
12104404 15:7729da55873a 141 }
12104404 16:d6f15a13c3aa 142 return false;
12104404 23:455f7da3dd7a 143 }