David Grayson / Mbed 2 deprecated DeadReckoning

David's dead reckoning code for the LVBots competition on March 6th. Uses the mbed LPC1768, DRV8835, QTR-3RC, and two DC motors with encoders.

Dependencies:   PololuEncoder Pacer mbed GeneralDebouncer

motors.cpp@5:01ad080dc4fa, 2014-02-20 (annotated)

Committer:
DavidEGrayson
Date:
Thu Feb 20 23:30:53 2014 +0000
Revision:
5:01ad080dc4fa
Parent:
4:1b20a11765c8
Child:
6:89a39870e23d
Succeeded in getting high resolution PWM.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DavidEGrayson 4:1b20a11765c8 1 #include <mbed.h>
DavidEGrayson 4:1b20a11765c8 2
DavidEGrayson 4:1b20a11765c8 3 static PwmOut motor1Pwm(p26);
DavidEGrayson 4:1b20a11765c8 4 DigitalOut motor1Dir(p25);
DavidEGrayson 4:1b20a11765c8 5
DavidEGrayson 4:1b20a11765c8 6 static PwmOut motor2Pwm(p24);
DavidEGrayson 4:1b20a11765c8 7 DigitalOut motor2Dir(p23);
DavidEGrayson 4:1b20a11765c8 8
DavidEGrayson 4:1b20a11765c8 9
DavidEGrayson 4:1b20a11765c8 10 void motors_init()
DavidEGrayson 4:1b20a11765c8 11 {
DavidEGrayson 4:1b20a11765c8 12 motor1Pwm.period_us(50);
DavidEGrayson 4:1b20a11765c8 13 motor2Pwm.period_us(50);
DavidEGrayson 5:01ad080dc4fa 14 motor1Pwm.pulsewidth_us(20);
DavidEGrayson 5:01ad080dc4fa 15 motor2Pwm.pulsewidth_us(20);
DavidEGrayson 5:01ad080dc4fa 16
DavidEGrayson 5:01ad080dc4fa 17 LPC_PWM1->MR0 = 1200; // Set the period
DavidEGrayson 5:01ad080dc4fa 18 LPC_PWM1->MCR = (1 << 1); // Reset PWMTC when it is equal to MR0.
DavidEGrayson 5:01ad080dc4fa 19 LPC_PWM1->MR1 = 10;
DavidEGrayson 5:01ad080dc4fa 20 LPC_PWM1->MR3 = 600;
DavidEGrayson 4:1b20a11765c8 21 }
DavidEGrayson 4:1b20a11765c8 22
DavidEGrayson 4:1b20a11765c8 23 void motors_speed_set(int16_t motor1_speed, int16_t motor2_speed)
DavidEGrayson 4:1b20a11765c8 24 {
DavidEGrayson 5:01ad080dc4fa 25 //LPC_PWM1->MR0 = motor1_speed;
DavidEGrayson 5:01ad080dc4fa 26 //LPC_PWM1->MR2 = motor2_speed;
DavidEGrayson 4:1b20a11765c8 27 }