Jordan Brack
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
Diff: Motor.cpp
- Revision:
- 4:25e028102625
- Child:
- 8:92f6baeea027
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Motor.cpp Thu Feb 02 23:30:41 2017 +0000
@@ -0,0 +1,72 @@
+#include "Motor.h"
+#include "mbed.h"
+/*
+DigitalOut DIR_L(PTA13);
+DigitalOut DIR_R(PTC9);
+
+PwmOut PWM_L(PTD0);
+PwmOut PWM_R(PTD5);
+
+Motor::Motor()
+{
+
+}
+
+void Motor::initializeMotor()
+{
+}
+
+void Motor::setLeftSpeed(int speed)
+{
+ init();
+ PWM_L.period_us(60);
+
+ bool reverse = 0;
+
+ if(speed < 0)
+ {
+ speed = -speed;
+ reverse = 1;
+ }
+ //Set Max Speed
+ if(speed > 60)
+ speed = 60;
+
+ if(reverse)
+ DIR_L = 1;
+ else
+ DIR_L = 0;
+
+ PWM_L.pulsewidth_us(speed);
+}
+
+void Motor::setRightSpeed(int speed)
+{
+ init();
+ PWM_R.period_us(60);
+
+ bool reverse = 0;
+
+ if(speed < 0)
+ {
+ speed = -speed;
+ reverse = 1;
+ }
+ //Set Max Speed
+ if(speed > 60)
+ speed = 60;
+
+ if(reverse)
+ DIR_R = 1;
+ else
+ DIR_R = 0;
+
+ PWM_R.pulsewidth_us(speed);
+}
+
+void Motor::setSpeeds(int leftSpeed, int rightSpeed)
+{
+ setLeftSpeed(leftSpeed);
+ setRightSpeed(rightSpeed);
+}
+*/
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