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

Hardwares/Motor.cpp@46:a5eb9bd3bb55, 2017-03-30 (annotated)

Committer:
hazheng
Date:
Thu Mar 30 22:34:20 2017 +0000
Revision:
46:a5eb9bd3bb55
Parent:
44:15de535c4005
Child:
47:a682be9908b9
Changed more code into pure C style. Finished driving complete circle! Both screen and camera works fine!

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 11:676ea42afd56 4 #include "Core.h"
hazheng 44:15de535c4005 5 #include "SWUSBServer.h"
Bobymicjohn 11:676ea42afd56 6
Bobymicjohn 8:92f6baeea027 7 #include "PinAssignment.h"
hazheng 46:a5eb9bd3bb55 8 #include "GlobalVariable.h"
Bobymicjohn 4:25e028102625 9
hazheng 46:a5eb9bd3bb55 10 #define MOTOR_PERIOD 0.020
hazheng 46:a5eb9bd3bb55 11
hazheng 46:a5eb9bd3bb55 12
hazheng 46:a5eb9bd3bb55 13 #ifdef __cplusplus
hazheng 46:a5eb9bd3bb55 14 extern "C" {
hazheng 46:a5eb9bd3bb55 15 #endif
hazheng 44:15de535c4005 16
hazheng 46:a5eb9bd3bb55 17 static DigitalOut motor_dir_l(PIN_MC_DIR_L, MDIR_Forward);
hazheng 46:a5eb9bd3bb55 18 static DigitalOut motor_dir_r(PIN_MC_DIR_R, MDIR_Forward);
hazheng 46:a5eb9bd3bb55 19
hazheng 46:a5eb9bd3bb55 20 static PwmOut motor_pwm_l(PIN_MC_SPEED_L);
hazheng 46:a5eb9bd3bb55 21 static PwmOut motor_pwm_r(PIN_MC_SPEED_R);
Bobymicjohn 8:92f6baeea027 22
hazheng 46:a5eb9bd3bb55 23 void motor_init()
Bobymicjohn 8:92f6baeea027 24 {
hazheng 46:a5eb9bd3bb55 25 motor_pwm_l.period(MOTOR_PERIOD);
hazheng 46:a5eb9bd3bb55 26 motor_pwm_r.period(MOTOR_PERIOD);
hazheng 46:a5eb9bd3bb55 27 motor_dir_l = 0.0f;
hazheng 46:a5eb9bd3bb55 28 motor_dir_r = 0.0f;
Bobymicjohn 8:92f6baeea027 29 }
Bobymicjohn 4:25e028102625 30
hazheng 46:a5eb9bd3bb55 31 void motor_set_left_speed(const float speed)
Bobymicjohn 8:92f6baeea027 32 {
Bobymicjohn 8:92f6baeea027 33 if(speed < -1.0f || speed > 1.0f)
Bobymicjohn 8:92f6baeea027 34 return;
Bobymicjohn 4:25e028102625 35
hazheng 46:a5eb9bd3bb55 36 motor_set_left_direction(speed < 0 ? MDIR_Backward : MDIR_Forward);
hazheng 46:a5eb9bd3bb55 37
hazheng 46:a5eb9bd3bb55 38 motor_pwm_l.pulsewidth((speed < 0 ? -speed : speed) * MOTOR_PERIOD);
Bobymicjohn 8:92f6baeea027 39
hazheng 46:a5eb9bd3bb55 40 //char buf[20];
hazheng 46:a5eb9bd3bb55 41 //sprintf(buf, "Motor %f", (float)motor_pwm_l);
hazheng 46:a5eb9bd3bb55 42 //g_core.GetUSBServer().PushUnreliableMsg('D', buf);
Bobymicjohn 4:25e028102625 43 }
Bobymicjohn 4:25e028102625 44
hazheng 46:a5eb9bd3bb55 45 void motor_set_right_speed(const float speed)
Bobymicjohn 4:25e028102625 46 {
Bobymicjohn 8:92f6baeea027 47 if(speed < -1.0f || speed > 1.0f)
Bobymicjohn 8:92f6baeea027 48 return;
Bobymicjohn 4:25e028102625 49
hazheng 46:a5eb9bd3bb55 50 motor_set_right_direction(speed < 0 ? MDIR_Backward : MDIR_Forward);
hazheng 44:15de535c4005 51
hazheng 46:a5eb9bd3bb55 52 motor_pwm_r.pulsewidth((speed < 0 ? -speed : speed) * MOTOR_PERIOD);
hazheng 46:a5eb9bd3bb55 53 }
Bobymicjohn 4:25e028102625 54
hazheng 46:a5eb9bd3bb55 55 void motor_set_left_direction(MotorDir dir)
Bobymicjohn 4:25e028102625 56 {
hazheng 46:a5eb9bd3bb55 57 motor_dir_l = static_cast<int>(dir);
Bobymicjohn 4:25e028102625 58 }
Bobymicjohn 8:92f6baeea027 59
hazheng 46:a5eb9bd3bb55 60 void motor_set_right_direction(MotorDir dir)
Bobymicjohn 8:92f6baeea027 61 {
hazheng 46:a5eb9bd3bb55 62 motor_dir_r = static_cast<int>(dir);
Bobymicjohn 8:92f6baeea027 63 }
hazheng 46:a5eb9bd3bb55 64
hazheng 46:a5eb9bd3bb55 65
hazheng 46:a5eb9bd3bb55 66 #ifdef __cplusplus
Bobymicjohn 8:92f6baeea027 67 }
hazheng 46:a5eb9bd3bb55 68 #endif