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@4:1b20a11765c8, 2014-02-20 (annotated)

Committer:
DavidEGrayson
Date:
Thu Feb 20 22:59:28 2014 +0000
Revision:
4:1b20a11765c8
Child:
5:01ad080dc4fa
Succeeded in generating basic PWM signals with PwmOut.

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 4:1b20a11765c8 14 }
DavidEGrayson 4:1b20a11765c8 15
DavidEGrayson 4:1b20a11765c8 16 void motors_speed_set(int16_t motor1_speed, int16_t motor2_speed)
DavidEGrayson 4:1b20a11765c8 17 {
DavidEGrayson 4:1b20a11765c8 18 motor1Pwm.pulsewidth_us(motor1_speed);
DavidEGrayson 4:1b20a11765c8 19 motor2Pwm.pulsewidth_us(motor2_speed);
DavidEGrayson 4:1b20a11765c8 20 }