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
test.cpp@8:78b1ff957cba, 2014-02-22 (annotated)
- Committer:
- DavidEGrayson
- Date:
- Sat Feb 22 02:23:21 2014 +0000
- Revision:
- 8:78b1ff957cba
- Child:
- 9:9734347b5756
refactored into many files
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
DavidEGrayson | 8:78b1ff957cba | 1 | // A file for testing routines that will not be used in the final firmware. |
DavidEGrayson | 8:78b1ff957cba | 2 | |
DavidEGrayson | 8:78b1ff957cba | 3 | #include <mbed.h> |
DavidEGrayson | 8:78b1ff957cba | 4 | #include "motors.h" |
DavidEGrayson | 8:78b1ff957cba | 5 | #include "leds.h" |
DavidEGrayson | 8:78b1ff957cba | 6 | #include "pc_serial.h" |
DavidEGrayson | 8:78b1ff957cba | 7 | |
DavidEGrayson | 8:78b1ff957cba | 8 | void testMotors() |
DavidEGrayson | 8:78b1ff957cba | 9 | { |
DavidEGrayson | 8:78b1ff957cba | 10 | led1 = 1; |
DavidEGrayson | 8:78b1ff957cba | 11 | led2 = 0; |
DavidEGrayson | 8:78b1ff957cba | 12 | led3 = 0; |
DavidEGrayson | 8:78b1ff957cba | 13 | while(1) |
DavidEGrayson | 8:78b1ff957cba | 14 | { |
DavidEGrayson | 8:78b1ff957cba | 15 | motors_speed_set(0, 0); |
DavidEGrayson | 8:78b1ff957cba | 16 | led2 = 0; |
DavidEGrayson | 8:78b1ff957cba | 17 | led3 = 0; |
DavidEGrayson | 8:78b1ff957cba | 18 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 19 | |
DavidEGrayson | 8:78b1ff957cba | 20 | motors_speed_set(300, 300); |
DavidEGrayson | 8:78b1ff957cba | 21 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 22 | |
DavidEGrayson | 8:78b1ff957cba | 23 | motors_speed_set(-300, 300); |
DavidEGrayson | 8:78b1ff957cba | 24 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 25 | |
DavidEGrayson | 8:78b1ff957cba | 26 | motors_speed_set(0, 0); |
DavidEGrayson | 8:78b1ff957cba | 27 | led2 = 1; |
DavidEGrayson | 8:78b1ff957cba | 28 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 29 | |
DavidEGrayson | 8:78b1ff957cba | 30 | motors_speed_set(600, 600); |
DavidEGrayson | 8:78b1ff957cba | 31 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 32 | |
DavidEGrayson | 8:78b1ff957cba | 33 | motors_speed_set(0, 0); |
DavidEGrayson | 8:78b1ff957cba | 34 | led3 = 1; |
DavidEGrayson | 8:78b1ff957cba | 35 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 36 | |
DavidEGrayson | 8:78b1ff957cba | 37 | motors_speed_set(1200, 1200); |
DavidEGrayson | 8:78b1ff957cba | 38 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 39 | } |
DavidEGrayson | 8:78b1ff957cba | 40 | } |