Jordan Brack / SmartWheelsPublic

SmartWheels self-driving race car. Designed for NXP Cup. Uses FRDM-KL25Z, area-scan camera, and simple image processing to detect and navigate any NXP spec track.

Dependencies:   TSI USBDevice mbed-dev

Fork of SmartWheels by haofan Zheng

Motor.cpp@4:25e028102625, 2017-02-02 (annotated)

Committer:
Bobymicjohn
Date:
Thu Feb 02 23:30:41 2017 +0000
Revision:
4:25e028102625
Child:
8:92f6baeea027
Added motor class;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Bobymicjohn 4:25e028102625 1 #include "Motor.h"
Bobymicjohn 4:25e028102625 2 #include "mbed.h"
Bobymicjohn 4:25e028102625 3 /*
Bobymicjohn 4:25e028102625 4 DigitalOut DIR_L(PTA13);
Bobymicjohn 4:25e028102625 5 DigitalOut DIR_R(PTC9);
Bobymicjohn 4:25e028102625 6
Bobymicjohn 4:25e028102625 7 PwmOut PWM_L(PTD0);
Bobymicjohn 4:25e028102625 8 PwmOut PWM_R(PTD5);
Bobymicjohn 4:25e028102625 9
Bobymicjohn 4:25e028102625 10 Motor::Motor()
Bobymicjohn 4:25e028102625 11 {
Bobymicjohn 4:25e028102625 12
Bobymicjohn 4:25e028102625 13 }
Bobymicjohn 4:25e028102625 14
Bobymicjohn 4:25e028102625 15 void Motor::initializeMotor()
Bobymicjohn 4:25e028102625 16 {
Bobymicjohn 4:25e028102625 17 }
Bobymicjohn 4:25e028102625 18
Bobymicjohn 4:25e028102625 19 void Motor::setLeftSpeed(int speed)
Bobymicjohn 4:25e028102625 20 {
Bobymicjohn 4:25e028102625 21 init();
Bobymicjohn 4:25e028102625 22 PWM_L.period_us(60);
Bobymicjohn 4:25e028102625 23
Bobymicjohn 4:25e028102625 24 bool reverse = 0;
Bobymicjohn 4:25e028102625 25
Bobymicjohn 4:25e028102625 26 if(speed < 0)
Bobymicjohn 4:25e028102625 27 {
Bobymicjohn 4:25e028102625 28 speed = -speed;
Bobymicjohn 4:25e028102625 29 reverse = 1;
Bobymicjohn 4:25e028102625 30 }
Bobymicjohn 4:25e028102625 31 //Set Max Speed
Bobymicjohn 4:25e028102625 32 if(speed > 60)
Bobymicjohn 4:25e028102625 33 speed = 60;
Bobymicjohn 4:25e028102625 34
Bobymicjohn 4:25e028102625 35 if(reverse)
Bobymicjohn 4:25e028102625 36 DIR_L = 1;
Bobymicjohn 4:25e028102625 37 else
Bobymicjohn 4:25e028102625 38 DIR_L = 0;
Bobymicjohn 4:25e028102625 39
Bobymicjohn 4:25e028102625 40 PWM_L.pulsewidth_us(speed);
Bobymicjohn 4:25e028102625 41 }
Bobymicjohn 4:25e028102625 42
Bobymicjohn 4:25e028102625 43 void Motor::setRightSpeed(int speed)
Bobymicjohn 4:25e028102625 44 {
Bobymicjohn 4:25e028102625 45 init();
Bobymicjohn 4:25e028102625 46 PWM_R.period_us(60);
Bobymicjohn 4:25e028102625 47
Bobymicjohn 4:25e028102625 48 bool reverse = 0;
Bobymicjohn 4:25e028102625 49
Bobymicjohn 4:25e028102625 50 if(speed < 0)
Bobymicjohn 4:25e028102625 51 {
Bobymicjohn 4:25e028102625 52 speed = -speed;
Bobymicjohn 4:25e028102625 53 reverse = 1;
Bobymicjohn 4:25e028102625 54 }
Bobymicjohn 4:25e028102625 55 //Set Max Speed
Bobymicjohn 4:25e028102625 56 if(speed > 60)
Bobymicjohn 4:25e028102625 57 speed = 60;
Bobymicjohn 4:25e028102625 58
Bobymicjohn 4:25e028102625 59 if(reverse)
Bobymicjohn 4:25e028102625 60 DIR_R = 1;
Bobymicjohn 4:25e028102625 61 else
Bobymicjohn 4:25e028102625 62 DIR_R = 0;
Bobymicjohn 4:25e028102625 63
Bobymicjohn 4:25e028102625 64 PWM_R.pulsewidth_us(speed);
Bobymicjohn 4:25e028102625 65 }
Bobymicjohn 4:25e028102625 66
Bobymicjohn 4:25e028102625 67 void Motor::setSpeeds(int leftSpeed, int rightSpeed)
Bobymicjohn 4:25e028102625 68 {
Bobymicjohn 4:25e028102625 69 setLeftSpeed(leftSpeed);
Bobymicjohn 4:25e028102625 70 setRightSpeed(rightSpeed);
Bobymicjohn 4:25e028102625 71 }
Bobymicjohn 4:25e028102625 72 */