jordy morsinkhof / Mbed 2 deprecated Handmatig

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Dependencies:   USBHost USBHostXpad mbed-rtos mbed

Fork of x4180_Tank by C K

Traxster.cpp@10:7e3987c8fa37, 2015-02-25 (annotated)

Committer:
347467
Date:
Wed Feb 25 08:38:37 2015 +0000
Revision:
10:7e3987c8fa37
Parent:
8:36b2ef26a0b1 
Xboxcontroller;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hotwheelharry 0:79485480cd7e 1
hotwheelharry 0:79485480cd7e 2 #include "Traxster.h"
hotwheelharry 0:79485480cd7e 3 #include "utils.h"
hotwheelharry 3:c1620db50a75 4 #include "rtos.h"
hotwheelharry 3:c1620db50a75 5
hotwheelharry 3:c1620db50a75 6 //extern Serial pc;
hotwheelharry 3:c1620db50a75 7 //extern Mutex m;
hotwheelharry 0:79485480cd7e 8
hotwheelharry 0:79485480cd7e 9 int getMotorSpeedInt(float f){
hotwheelharry 0:79485480cd7e 10
hotwheelharry 8:36b2ef26a0b1 11 int max = 40;
hotwheelharry 0:79485480cd7e 12
hotwheelharry 0:79485480cd7e 13 if(f > 1.0)
hotwheelharry 0:79485480cd7e 14 f = 1.0;
hotwheelharry 0:79485480cd7e 15
hotwheelharry 0:79485480cd7e 16 if(f < -1.0)
hotwheelharry 0:79485480cd7e 17 f = -1.0;
hotwheelharry 0:79485480cd7e 18
hotwheelharry 0:79485480cd7e 19 return (int)round( (float)max * f );
hotwheelharry 0:79485480cd7e 20 }
hotwheelharry 0:79485480cd7e 21
hotwheelharry 0:79485480cd7e 22 void Traxster::SetMotors(float fm1, float fm2)
hotwheelharry 0:79485480cd7e 23 {
hotwheelharry 0:79485480cd7e 24 int m1 = getMotorSpeedInt(fm1);
hotwheelharry 0:79485480cd7e 25 int m2 = getMotorSpeedInt(fm2);
hotwheelharry 0:79485480cd7e 26
hotwheelharry 2:5e870c215495 27 //clear robot msgs
hotwheelharry 2:5e870c215495 28 while (rob.readable())
hotwheelharry 2:5e870c215495 29 rob.getc();
hotwheelharry 2:5e870c215495 30
hotwheelharry 0:79485480cd7e 31 if (m1 == 0 && m2 == 0)
hotwheelharry 0:79485480cd7e 32 {
hotwheelharry 0:79485480cd7e 33 rob.puts("stop\r");
hotwheelharry 0:79485480cd7e 34 }
hotwheelharry 0:79485480cd7e 35 else
hotwheelharry 0:79485480cd7e 36 {
hotwheelharry 3:c1620db50a75 37 //m.lock();
hotwheelharry 3:c1620db50a75 38 //pc.printf("mogo 1:%d 2:%d\r\n", m1, m2);
hotwheelharry 3:c1620db50a75 39 //m.unlock();
hotwheelharry 0:79485480cd7e 40 rob.printf("mogo 1:%d 2:%d\r", m1, m2);
hotwheelharry 0:79485480cd7e 41 }
hotwheelharry 2:5e870c215495 42
hotwheelharry 2:5e870c215495 43 //clear robot msgs
hotwheelharry 0:79485480cd7e 44 while (rob.readable())
hotwheelharry 0:79485480cd7e 45 rob.getc();
hotwheelharry 0:79485480cd7e 46 }