Diff: main.cpp

Revision:

1:23d0a615756a

Parent:

0:41ca27337c2b

Child:

2:54d27fdcbe5c

--- a/main.cpp	Tue Jul 28 14:59:19 2015 +0000
+++ b/main.cpp	Fri Jul 31 17:37:52 2015 +0000
@@ -6,6 +6,15 @@
 //
 // The FreeScale FRDM-K64F is a much more powerful board than needed for this task,
 // but it is a good template for a typical "tank-drive" robot based on the FRDM-K64F.
+//
+// The DBH-1x motor driver has very similar inputs to the very common L298N
+// dual-H-bridge driver chip.  One main difference is that it warns that
+// the drive is to be used at no more than 98% PWM.  In order
+// to meet this extra requirement over common L298 motor driver logic,
+// the direction indicator inputs are PWM at 98% instead of logic "1"
+//
+// Aaron Birenboim, http://boim.com    31jul2015
+// Apache license
 
 #include "mbed.h"
 
@@ -33,15 +42,18 @@
 ASerial cSerial(CmdSerial); 
 
 // Set up motor drive for left and right motors
-#include "MotorDriveDBH1.h"
+#define DBH1   // use DBH-1x modifications to typicsl L298 drive logic
+#include "MotorDrive298.h"
 MotorDrive MotL(PTD1,PTD3,PTD2,PTB2);
 MotorDrive MotR(PTD0,PTC4,PTA0,PTB3);
 
 #include "Command.h"
 
+// ------------------------------------------------------------------------------
+
 void initMotorDrive(MotorDrive &md)
 {
-    md.setCommandTimeout(5000);  // ms between commands before automatic emergency stop
+    md.setCommandTimeout(15000);  // ms between commands before automatic emergency stop
     //ms.setPWMfreqHz(8000);
     
     // these should be the defaults
@@ -49,16 +61,9 @@
     //md.setStopDeadTime(3000); // wait this many ms after emergency STOP before starting up again
     //md.setMinPWM(0.004f);  // any PWM command below this istreated as 0
     //md.setMaxPWM(0.98f);  // these drives can fail if attempt to run full-100%
-    //md.setDecel(0.01f);  // deceleration rate on STOP.  This frac/ms
+    md.setDecelRate(500);  // deceleration rate on STOP.  This frac/ms
     
 }
-// make sure deadman release stops immediately
-void deadmanReleased()
-{
-  MotR.emergencyStop();
-  MotL.emergencyStop();
-  cSerial.println("STOP");
-}
 
 // Since this board has fancy tri-color LED, let's sequence it
 // instead of a boring old flash for a heartbeat
@@ -86,8 +91,7 @@
   float cr, cl;
   cr = MotR.getCurrent();
   cl = MotL.getCurrent();
-  cSerial.print("Current:  left=");cSerial.print(cl);
-  cSerial.print("   right=");cSerial.println(cr);
+  CmdSerial.printf("\r\nCurrent:  left=%.3f  right=%.3f\r\n",cl,cr);
 }
 
 //void dumpSerialChar()
@@ -105,49 +109,53 @@
 
 // for diagnostics, just print a few messages, then be quiet to improve
 // performance when in actual use.
-int nMsg = 99;
+int nMsg = 9;
 
 int main()
 {
-
+    CmdSerial.baud(57600);
+    CmdSerial.puts("\r\nTankDrive for K64F with Bluetooth\r\n\n");
+    
     // Set motor drive parameters
     initMotorDrive(MotL);
     initMotorDrive(MotR);
-
-    CmdSerial.baud(57600);
-    CmdSerial.puts("\r\nTankDrive for K64F with Bluetooth\r\n\n");
     
     Time.reset();
     Time.start();
 
     CommandReader cmd(cSerial);
-        
+    
+    //int detailMsg=9;    
     while (true) {
         int t = Time.read_ms();
-
+//if(--detailMsg>0)CmdSerial.printf("%d\r\n",t);
         char code;
         int val;
         int stat = cmd.get(code,val);
+
         if (stat)
         {
             prevCommandTime = t;
             if (nMsg>0){nMsg--;CmdSerial.printf(">%c%d\r\n",code,val);}
-/*
+
             switch(code)
             {
-            case 'L': MotL.setSpeed(val,t); break;
-            case 'R': MotR.setSpeed(val,t); break;
+            case 'L': MotL.setSpeed(val/255.0,t); break;
+            case 'R': MotR.setSpeed(val/255.0,t); break;
             default : 
-                MotL.setSpeed(0,t);  // odd command.  just stop
-                MotR.setSpeed(0,t);
-                CmdSerial.puts("<stop\r\n");
+                CmdSerial.printf("Unidentified command \"%c%d\" (stop)",code,val);
+                MotL.stop();
+                MotR.stop();
             }
-*/
+//CmdSerial.puts("\nrcd\r");
+//CmdSerial.puts("\r\n");
+//detailMsg=2;
+//CmdSerial.putc('\n');
         }
         else
         { // no command, do housekeeping (misc state update stuff)
-            //MotL.update(t);
-            //MotR.update(t);
+            MotL.update(t);
+            MotR.update(t);
 
             if ((prevCommandTime > 0x0fffff00) && (t < 999))
             {  // time counter is close to wrapping around.  make sure this does not happen.
@@ -155,6 +163,7 @@
                prevCommandTime = tFlash = 0;
                Time.reset();
                Time.start();
+               CmdSerial.puts("\r\nClock wrap-around\r\n");
                while(Time.read() < 1);
                t = 1;
             }