Mobiel platform besturen aan de hand van sensoren en een xbox controller
Dependencies: USBHost USBHostXpad mbed-rtos mbed
Traxster.cpp
- Committer:
- 347467
- Date:
- 2015-02-25
- Revision:
- 0:345f76c72b9a
File content as of revision 0:345f76c72b9a:
#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(); }