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@7:85b8b5acfb22, 2014-02-21 (annotated)

Committer:
DavidEGrayson
Date:
Fri Feb 21 00:00:43 2014 +0000
Revision:
7:85b8b5acfb22
Parent:
6:89a39870e23d
Child:
8:78b1ff957cba
Setting more PWM registers now, but the call to period_us is still necessary for some reason.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DavidEGrayson 4:1b20a11765c8 1 #include <mbed.h>
DavidEGrayson 7:85b8b5acfb22 2 #include "motors.h"
DavidEGrayson 7:85b8b5acfb22 3
DavidEGrayson 7:85b8b5acfb22 4 // Application mbed pin LPC1768
DavidEGrayson 7:85b8b5acfb22 5 // Motor 1 PWM p26 P2[0]/PWM1[1]
DavidEGrayson 7:85b8b5acfb22 6 // Motor 1 dir p25
DavidEGrayson 7:85b8b5acfb22 7 // Motor 2 PWM p27 P2[2]/PWM1[3]
DavidEGrayson 7:85b8b5acfb22 8 // Motor 2 dir p28
DavidEGrayson 4:1b20a11765c8 9
DavidEGrayson 4:1b20a11765c8 10 static PwmOut motor1Pwm(p26);
DavidEGrayson 4:1b20a11765c8 11 DigitalOut motor1Dir(p25);
DavidEGrayson 4:1b20a11765c8 12
DavidEGrayson 4:1b20a11765c8 13 static PwmOut motor2Pwm(p24);
DavidEGrayson 4:1b20a11765c8 14 DigitalOut motor2Dir(p23);
DavidEGrayson 4:1b20a11765c8 15
DavidEGrayson 4:1b20a11765c8 16 void motors_init()
DavidEGrayson 4:1b20a11765c8 17 {
DavidEGrayson 7:85b8b5acfb22 18 motor1Pwm.period_us(100);
DavidEGrayson 7:85b8b5acfb22 19
DavidEGrayson 7:85b8b5acfb22 20 // Set most parts of the PWM module to their defaults.
DavidEGrayson 7:85b8b5acfb22 21 LPC_PWM1->TCR = 0;
DavidEGrayson 7:85b8b5acfb22 22 LPC_PWM1->CTCR = 0;
DavidEGrayson 7:85b8b5acfb22 23 LPC_PWM1->CCR = 0;
DavidEGrayson 5:01ad080dc4fa 24
DavidEGrayson 7:85b8b5acfb22 25 // Enable PWM output 1 and PWM output 3.
DavidEGrayson 7:85b8b5acfb22 26 LPC_PWM1->PCR = (1 << 9) | (1 << 11);
DavidEGrayson 7:85b8b5acfb22 27
DavidEGrayson 5:01ad080dc4fa 28 LPC_PWM1->MCR = (1 << 1); // Reset PWMTC when it is equal to MR0.
DavidEGrayson 7:85b8b5acfb22 29
DavidEGrayson 7:85b8b5acfb22 30 LPC_PWM1->MR0 = 1200; // Set the period. This must be done before enabling PWM.
DavidEGrayson 7:85b8b5acfb22 31 LPC_PWM1->LER = (1 << 0);
DavidEGrayson 7:85b8b5acfb22 32 motors_speed_set(0, 0);
DavidEGrayson 7:85b8b5acfb22 33
DavidEGrayson 7:85b8b5acfb22 34 LPC_PWM1->TCR = (1 << 0) | (1 << 3); // Enable the PWM counter and enable PWM.
DavidEGrayson 7:85b8b5acfb22 35
DavidEGrayson 4:1b20a11765c8 36 }
DavidEGrayson 4:1b20a11765c8 37
DavidEGrayson 4:1b20a11765c8 38 void motors_speed_set(int16_t motor1_speed, int16_t motor2_speed)
DavidEGrayson 4:1b20a11765c8 39 {
DavidEGrayson 6:89a39870e23d 40 LPC_PWM1->MR1 = motor1_speed;
DavidEGrayson 6:89a39870e23d 41 LPC_PWM1->MR3 = motor2_speed;
DavidEGrayson 7:85b8b5acfb22 42 LPC_PWM1->LER |= (1<<1) | (1<<3);
DavidEGrayson 4:1b20a11765c8 43 }