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

Diff: motors.cpp

Revision:
5:01ad080dc4fa
Parent:
4:1b20a11765c8
Child:
6:89a39870e23d
--- a/motors.cpp	Thu Feb 20 22:59:28 2014 +0000
+++ b/motors.cpp	Thu Feb 20 23:30:53 2014 +0000
@@ -11,10 +11,17 @@
 {
     motor1Pwm.period_us(50);
     motor2Pwm.period_us(50);
+    motor1Pwm.pulsewidth_us(20);
+    motor2Pwm.pulsewidth_us(20);
+    
+    LPC_PWM1->MR0 = 1200;       // Set the period
+    LPC_PWM1->MCR = (1 << 1);   // Reset PWMTC when it is equal to MR0.
+    LPC_PWM1->MR1 = 10;
+    LPC_PWM1->MR3 = 600;
 }
 
 void motors_speed_set(int16_t motor1_speed, int16_t motor2_speed)
 {
-    motor1Pwm.pulsewidth_us(motor1_speed);
-    motor2Pwm.pulsewidth_us(motor2_speed);    
+    //LPC_PWM1->MR0 = motor1_speed;
+    //LPC_PWM1->MR2 = motor2_speed;
 }