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:
- 6:89a39870e23d
- Parent:
- 5:01ad080dc4fa
- Child:
- 7:85b8b5acfb22
--- a/motors.cpp Thu Feb 20 23:30:53 2014 +0000 +++ b/motors.cpp Thu Feb 20 23:33:45 2014 +0000 @@ -6,7 +6,6 @@ static PwmOut motor2Pwm(p24); DigitalOut motor2Dir(p23); - void motors_init() { motor1Pwm.period_us(50); @@ -16,12 +15,10 @@ 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) { - //LPC_PWM1->MR0 = motor1_speed; - //LPC_PWM1->MR2 = motor2_speed; + LPC_PWM1->MR1 = motor1_speed; + LPC_PWM1->MR3 = motor2_speed; }