Keisuke Fujii / Mbed 2 deprecated maxon_test

Dependencies:   mbed Motordriver QEI

library.h@1:19d647492936, 2011-11-10 (annotated)

Committer:
Keisuke_Fujii
Date:
Thu Nov 10 13:29:43 2011 +0000
Revision:
1:19d647492936

        

        
Who changed what in which revision?

        

            
                
UserRevisionLine numberNew contents of line

            
            


Keisuke_Fujii

1:19d647492936


     1

#include         "mbed.h"





Keisuke_Fujii

1:19d647492936


     2

#include          "QEI.h"





Keisuke_Fujii

1:19d647492936


     3

#include "ClockControl.h"





Keisuke_Fujii

1:19d647492936


     4







Keisuke_Fujii

1:19d647492936


     5

//Number of pulses in one revolution





Keisuke_Fujii

1:19d647492936


     6

#define  PULSE 6144  //12(encorder_plse) * 16(gear_head) * 32(wheel)





Keisuke_Fujii

1:19d647492936


     7

#define LENGTH    4  //servo_number





Keisuke_Fujii

1:19d647492936


     8







Keisuke_Fujii

1:19d647492936


     9

Serial        device( p28, p27 );   //serial_PC





Keisuke_Fujii

1:19d647492936


    10

Serial         servo( p9, p10 );    //serial_servo





Keisuke_Fujii

1:19d647492936


    11

QEI            r_enc(  p6,  p5, NC, PULSE, QEI :: X4_ENCODING );    //encorder(right_motor)





Keisuke_Fujii

1:19d647492936


    12

QEI            l_enc( p18, p17, NC, PULSE, QEI :: X4_ENCODING );    //encorder(left_motor)





Keisuke_Fujii

1:19d647492936


    13

PwmOut     right_pwm( p22 );    //PWM(right_motor)





Keisuke_Fujii

1:19d647492936


    14

PwmOut      left_pwm( p21 );    //PWM(left_motor)





Keisuke_Fujii

1:19d647492936


    15

DigitalOut   right_P( p7 );     //H bridge(right_motor)





Keisuke_Fujii

1:19d647492936


    16

DigitalOut   right_N( p8 );     //H bridge(right_motor)





Keisuke_Fujii

1:19d647492936


    17

DigitalOut    left_P( p15 );    //H bridge(left_motor)





Keisuke_Fujii

1:19d647492936


    18

DigitalOut    left_N( p16 );    //H bridge(left_motor)





Keisuke_Fujii

1:19d647492936


    19

DigitalOut    enable( p19 );    //Enable_pin(motor_driver)





Keisuke_Fujii

1:19d647492936


    20

PwmOut          led1( p23 );    //LED for observation of the robot





Keisuke_Fujii

1:19d647492936


    21

PwmOut          led2( p24 );    //LED for observation of the robot





Keisuke_Fujii

1:19d647492936


    22







Keisuke_Fujii

1:19d647492936


    23

//motor.h





Keisuke_Fujii

1:19d647492936


    24

void    qei( void );





Keisuke_Fujii

1:19d647492936


    25

void   move_f( double, double );





Keisuke_Fujii

1:19d647492936


    26

void   move_b( double, double );





Keisuke_Fujii

1:19d647492936


    27

void   turn_r( double, double );





Keisuke_Fujii

1:19d647492936


    28

void   turn_l( double, double );





Keisuke_Fujii

1:19d647492936


    29

void   stop( void );





Keisuke_Fujii

1:19d647492936


    30







Keisuke_Fujii

1:19d647492936


    31

//servo.h





Keisuke_Fujii

1:19d647492936


    32

short ID_num[LENGTH] = { 0x01, 0x02, 0x03, 0x04 };





Keisuke_Fujii

1:19d647492936


    33

short degree[LENGTH] = { 0, 1500, -1500, 0 };





Keisuke_Fujii

1:19d647492936


    34







Keisuke_Fujii

1:19d647492936


    35

void control_servo( void );





Keisuke_Fujii

1:19d647492936


    36

void       cal_deg( short, short *, short * );





Keisuke_Fujii

1:19d647492936


    37

void          save( short );





Keisuke_Fujii

1:19d647492936


    38

short      cal_sum( short *, int );





Keisuke_Fujii

1:19d647492936


    39

void        id_set( void );