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.h@100:ffbeefc9e218, 2017-04-20 (annotated)

Committer:
hazheng
Date:
Thu Apr 20 21:04:10 2017 +0000
Revision:
100:ffbeefc9e218
Parent:
91:7b1910ca3ad6 
Better version of Intersection detection.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hazheng 91:7b1910ca3ad6 1 /**
hazheng 91:7b1910ca3ad6 2 * @file Motor.h
hazheng 91:7b1910ca3ad6 3 * @brief The header file for all functions that control the motors.
hazheng 91:7b1910ca3ad6 4 * @author Jordan Brack <jabrack@mix.wvu.edu>, Haofan Zheng <hazheng@mix.wvu.edu>
hazheng 91:7b1910ca3ad6 5 *
hazheng 91:7b1910ca3ad6 6 */
Bobymicjohn 4:25e028102625 7 #pragma once
hazheng 91:7b1910ca3ad6 8 #ifndef MOTOR_H
hazheng 91:7b1910ca3ad6 9 #define MOTOR_H
Bobymicjohn 8:92f6baeea027 10
Bobymicjohn 8:92f6baeea027 11 #include <mbed.h>
Bobymicjohn 8:92f6baeea027 12
hazheng 91:7b1910ca3ad6 13 #define MotorDir uint8_t /*!< @brief Define the MotorDir type as a alias to the uint8_t. */
hazheng 91:7b1910ca3ad6 14 #define MDIR_Forward 0 /*!< @brief Move forward is low voltage level. */
hazheng 91:7b1910ca3ad6 15 #define MDIR_Backward 1 /*!< @brief Move backward is high voltage level. */
Bobymicjohn 8:92f6baeea027 16
hazheng 46:a5eb9bd3bb55 17
hazheng 100:ffbeefc9e218 18 #define MOTOR_MAX_SPEED_LIMIT 0.55f /*!< @brief The percentage of the max speed (power) level for the motor driver. (This will be multiply to the speed that finally set to the motor driver) */
hazheng 53:36d9335fec96 19
hazheng 91:7b1910ca3ad6 20 #define MOTOR_DIFF_MIN_SPEED 0.55f /*!< @brief The percentage of the digital rear differential. (It should be used outside of these functions.) */
hazheng 52:078b521c9edf 21
hazheng 46:a5eb9bd3bb55 22 #ifdef __cplusplus
hazheng 46:a5eb9bd3bb55 23 extern "C" {
hazheng 46:a5eb9bd3bb55 24 #endif
hazheng 46:a5eb9bd3bb55 25
hazheng 91:7b1910ca3ad6 26 /**
hazheng 91:7b1910ca3ad6 27 * @brief Init the motors. There is only one pair of motors in the system, thus, this function is required to be called only once during the system initialization.
hazheng 91:7b1910ca3ad6 28 */
hazheng 46:a5eb9bd3bb55 29 void motor_init();
hazheng 46:a5eb9bd3bb55 30
hazheng 91:7b1910ca3ad6 31 /**
hazheng 91:7b1910ca3ad6 32 * @brief Set the left motor speed (power) level.
hazheng 91:7b1910ca3ad6 33 * @param speed The percentage (between 0 ~ 1) of the speed (power) level. Positive for forward, and negative for backward.
hazheng 91:7b1910ca3ad6 34 */
hazheng 46:a5eb9bd3bb55 35 void motor_set_left_speed(const float speed);
hazheng 46:a5eb9bd3bb55 36
hazheng 91:7b1910ca3ad6 37 /**
hazheng 91:7b1910ca3ad6 38 * @brief Set the right motor speed (power) level.
hazheng 91:7b1910ca3ad6 39 * @param speed The percentage (between 0 ~ 1) of the speed (power) level. Positive for forward, and negative for backward.
hazheng 91:7b1910ca3ad6 40 */
hazheng 46:a5eb9bd3bb55 41 void motor_set_right_speed(const float speed);
hazheng 46:a5eb9bd3bb55 42
hazheng 91:7b1910ca3ad6 43 /**
hazheng 91:7b1910ca3ad6 44 * @brief Set the motor speed (power) level for both motors.
hazheng 91:7b1910ca3ad6 45 * @param speed_left The percentage (between 0 ~ 1) of the speed (power) level. Positive for forward, and negative for backward.
hazheng 91:7b1910ca3ad6 46 * @param speed_right The percentage (between 0 ~ 1) of the speed (power) level. Positive for forward, and negative for backward.
hazheng 91:7b1910ca3ad6 47 */
hazheng 46:a5eb9bd3bb55 48 inline void motor_set_speeds(const float speed_left, const float speed_right)
Bobymicjohn 11:676ea42afd56 49 {
hazheng 46:a5eb9bd3bb55 50 motor_set_left_speed(speed_left);
hazheng 46:a5eb9bd3bb55 51 motor_set_right_speed(speed_right);
Bobymicjohn 11:676ea42afd56 52 }
Bobymicjohn 4:25e028102625 53
hazheng 91:7b1910ca3ad6 54 /**
hazheng 91:7b1910ca3ad6 55 * @brief Set the left motor direction.
hazheng 91:7b1910ca3ad6 56 * @param dir The direction of the motor. For the datatype and available parameter values, please reference to the defines above.
hazheng 91:7b1910ca3ad6 57 */
hazheng 46:a5eb9bd3bb55 58 void motor_set_left_direction(MotorDir dir);
hazheng 46:a5eb9bd3bb55 59
hazheng 91:7b1910ca3ad6 60 /**
hazheng 91:7b1910ca3ad6 61 * @brief Set the right motor direction.
hazheng 91:7b1910ca3ad6 62 * @param dir The direction of the motor. For the datatype and available parameter values, please reference to the defines above.
hazheng 91:7b1910ca3ad6 63 */
hazheng 46:a5eb9bd3bb55 64 void motor_set_right_direction(MotorDir dir);
Bobymicjohn 4:25e028102625 65
hazheng 91:7b1910ca3ad6 66 /**
hazheng 91:7b1910ca3ad6 67 * @brief Set the motor direction for both motors.
hazheng 91:7b1910ca3ad6 68 * @param dirL The direction of the left motor. For the datatype and available parameter values, please reference to the defines above.
hazheng 91:7b1910ca3ad6 69 * @param dirR The direction of the right motor. For the datatype and available parameter values, please reference to the defines above.
hazheng 91:7b1910ca3ad6 70 */
hazheng 46:a5eb9bd3bb55 71 inline void motor_set_direction(MotorDir dirL, MotorDir dirR)
hazheng 46:a5eb9bd3bb55 72 {
hazheng 46:a5eb9bd3bb55 73 motor_set_left_direction(dirL);
hazheng 46:a5eb9bd3bb55 74 motor_set_right_direction(dirR);
hazheng 46:a5eb9bd3bb55 75 }
Bobymicjohn 4:25e028102625 76
hazheng 46:a5eb9bd3bb55 77 #ifdef __cplusplus
hazheng 46:a5eb9bd3bb55 78 }
hazheng 91:7b1910ca3ad6 79 #endif
hazheng 91:7b1910ca3ad6 80
hazheng 91:7b1910ca3ad6 81 #endif //MOTOR_H