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
- Committer:
- DavidEGrayson
- Date:
- 2014-02-21
- Revision:
- 7:85b8b5acfb22
- Parent:
- 6:89a39870e23d
- Child:
- 8:78b1ff957cba
File content as of revision 7:85b8b5acfb22:
#include <mbed.h> #include "motors.h" // Application mbed pin LPC1768 // Motor 1 PWM p26 P2[0]/PWM1[1] // Motor 1 dir p25 // Motor 2 PWM p27 P2[2]/PWM1[3] // Motor 2 dir p28 static PwmOut motor1Pwm(p26); DigitalOut motor1Dir(p25); static PwmOut motor2Pwm(p24); DigitalOut motor2Dir(p23); void motors_init() { motor1Pwm.period_us(100); // Set most parts of the PWM module to their defaults. LPC_PWM1->TCR = 0; LPC_PWM1->CTCR = 0; LPC_PWM1->CCR = 0; // Enable PWM output 1 and PWM output 3. LPC_PWM1->PCR = (1 << 9) | (1 << 11); LPC_PWM1->MCR = (1 << 1); // Reset PWMTC when it is equal to MR0. LPC_PWM1->MR0 = 1200; // Set the period. This must be done before enabling PWM. LPC_PWM1->LER = (1 << 0); motors_speed_set(0, 0); LPC_PWM1->TCR = (1 << 0) | (1 << 3); // Enable the PWM counter and enable PWM. } void motors_speed_set(int16_t motor1_speed, int16_t motor2_speed) { LPC_PWM1->MR1 = motor1_speed; LPC_PWM1->MR3 = motor2_speed; LPC_PWM1->LER |= (1<<1) | (1<<3); }