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@8:92f6baeea027, 2017-02-03 (annotated)

Committer:
Bobymicjohn
Date:
Fri Feb 03 19:40:27 2017 +0000
Revision:
8:92f6baeea027
Parent:
4:25e028102625 
Finished code for 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 8:92f6baeea027 3
Bobymicjohn 8:92f6baeea027 4 #include "PinAssignment.h"
Bobymicjohn 4:25e028102625 5
Bobymicjohn 8:92f6baeea027 6 Motor::Motor() :
Bobymicjohn 8:92f6baeea027 7 m_dirL(DigitalOut(MC_DIR_L, 1)),
Bobymicjohn 8:92f6baeea027 8 m_dirR(DigitalOut(MC_DIR_R, 1)),
Bobymicjohn 8:92f6baeea027 9 m_pwmL(PwmOut(MC_SPEED_L)),
Bobymicjohn 8:92f6baeea027 10 m_pwmR(PwmOut(MC_SPEED_R))
Bobymicjohn 8:92f6baeea027 11
Bobymicjohn 8:92f6baeea027 12 {
Bobymicjohn 8:92f6baeea027 13
Bobymicjohn 8:92f6baeea027 14 }
Bobymicjohn 4:25e028102625 15
Bobymicjohn 8:92f6baeea027 16
Bobymicjohn 8:92f6baeea027 17 void Motor::Update(float deltaTime)
Bobymicjohn 4:25e028102625 18 {
Bobymicjohn 4:25e028102625 19
Bobymicjohn 4:25e028102625 20 }
Bobymicjohn 8:92f6baeea027 21
Bobymicjohn 8:92f6baeea027 22 void Motor::setLeftSpeed(float speed)
Bobymicjohn 8:92f6baeea027 23 {
Bobymicjohn 8:92f6baeea027 24 if(speed < -1.0f || speed > 1.0f)
Bobymicjohn 8:92f6baeea027 25 return;
Bobymicjohn 4:25e028102625 26
Bobymicjohn 8:92f6baeea027 27 m_pwmL.period_us(60);
Bobymicjohn 8:92f6baeea027 28
Bobymicjohn 8:92f6baeea027 29 setLeftDirection(speed < 0 ? MDIR_Backward : MDIR_Forward);
Bobymicjohn 8:92f6baeea027 30 speed = speed < 0 ? -speed : speed;
Bobymicjohn 8:92f6baeea027 31
Bobymicjohn 8:92f6baeea027 32 m_pwmL = speed;
Bobymicjohn 4:25e028102625 33 }
Bobymicjohn 4:25e028102625 34
Bobymicjohn 8:92f6baeea027 35 void Motor::setRightSpeed(float speed)
Bobymicjohn 4:25e028102625 36 {
Bobymicjohn 8:92f6baeea027 37 if(speed < -1.0f || speed > 1.0f)
Bobymicjohn 8:92f6baeea027 38 return;
Bobymicjohn 4:25e028102625 39
Bobymicjohn 8:92f6baeea027 40 m_pwmR.period_us(60);
Bobymicjohn 8:92f6baeea027 41
Bobymicjohn 8:92f6baeea027 42 setRightDirection(speed < 0 ? MDIR_Backward : MDIR_Forward);
Bobymicjohn 8:92f6baeea027 43 speed = speed < 0 ? -speed : speed;
Bobymicjohn 4:25e028102625 44
Bobymicjohn 8:92f6baeea027 45 m_pwmR = speed;
Bobymicjohn 4:25e028102625 46 }
Bobymicjohn 4:25e028102625 47
Bobymicjohn 8:92f6baeea027 48 void Motor::setSpeeds(float leftSpeed, float rightSpeed)
Bobymicjohn 4:25e028102625 49 {
Bobymicjohn 4:25e028102625 50 setLeftSpeed(leftSpeed);
Bobymicjohn 4:25e028102625 51 setRightSpeed(rightSpeed);
Bobymicjohn 4:25e028102625 52 }
Bobymicjohn 8:92f6baeea027 53
Bobymicjohn 8:92f6baeea027 54
Bobymicjohn 8:92f6baeea027 55 void Motor::setLeftDirection(MotorDir dir)
Bobymicjohn 8:92f6baeea027 56 {
Bobymicjohn 8:92f6baeea027 57 m_dirL = static_cast<int>(dir);
Bobymicjohn 8:92f6baeea027 58 }
Bobymicjohn 8:92f6baeea027 59
Bobymicjohn 8:92f6baeea027 60 void Motor::setRightDirection(MotorDir dir)
Bobymicjohn 8:92f6baeea027 61 {
Bobymicjohn 8:92f6baeea027 62 m_dirR = static_cast<int>(dir);
Bobymicjohn 8:92f6baeea027 63 }
Bobymicjohn 8:92f6baeea027 64
Bobymicjohn 8:92f6baeea027 65 void Motor::setDirections(MotorDir dirL, MotorDir dirR)
Bobymicjohn 8:92f6baeea027 66 {
Bobymicjohn 8:92f6baeea027 67 setLeftDirection(dirL);
Bobymicjohn 8:92f6baeea027 68 setRightDirection(dirR);
Bobymicjohn 8:92f6baeea027 69 }