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

Committer:
DavidEGrayson
Date:
2014-02-20
Revision:
6:89a39870e23d
Parent:
5:01ad080dc4fa
Child:
7:85b8b5acfb22

File content as of revision 6:89a39870e23d:

#include <mbed.h>

static PwmOut motor1Pwm(p26);
DigitalOut motor1Dir(p25);

static PwmOut motor2Pwm(p24);
DigitalOut motor2Dir(p23);

void motors_init()
{
    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.
}

void motors_speed_set(int16_t motor1_speed, int16_t motor2_speed)
{
    LPC_PWM1->MR1 = motor1_speed;
    LPC_PWM1->MR3 = motor2_speed;
}