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Dependencies: USBHost USBHostXpad mbed-rtos mbed
Fork of x4180_Tank by
Traxster.cpp
- Committer:
- hotwheelharry
- Date:
- 2014-12-06
- Revision:
- 8:36b2ef26a0b1
- Parent:
- 3:c1620db50a75
File content as of revision 8:36b2ef26a0b1:
#include "Traxster.h" #include "utils.h" #include "rtos.h" //extern Serial pc; //extern Mutex m; int getMotorSpeedInt(float f){ int max = 40; if(f > 1.0) f = 1.0; if(f < -1.0) f = -1.0; return (int)round( (float)max * f ); } void Traxster::SetMotors(float fm1, float fm2) { int m1 = getMotorSpeedInt(fm1); int m2 = getMotorSpeedInt(fm2); //clear robot msgs while (rob.readable()) rob.getc(); if (m1 == 0 && m2 == 0) { rob.puts("stop\r"); } else { //m.lock(); //pc.printf("mogo 1:%d 2:%d\r\n", m1, m2); //m.unlock(); rob.printf("mogo 1:%d 2:%d\r", m1, m2); } //clear robot msgs while (rob.readable()) rob.getc(); }