Basic tank-style drive robot control firmware for Freescale FRDM-K64F. Controls motors on a Dual-Full-H-Bridge with EN, like DBH-1x series, from Bluetooth serial commands
Diff: main.cpp
- Revision:
- 4:7620d21baef3
- Parent:
- 3:502f90649834
--- a/main.cpp Thu Aug 13 17:50:28 2015 +0000 +++ b/main.cpp Sun Aug 16 22:46:25 2015 +0000 @@ -97,7 +97,7 @@ float cr, cl; cr = MotR.getCurrent(); cl = MotL.getCurrent(); - CmdSerial.printf("\tCurrent: left=%.3f right=%.3f\r\n",cl,cr); + DiagSerial.printf("\tCurrent: left=%.3f right=%.3f\r\n",cl,cr); } //void dumpSerialChar() @@ -119,10 +119,12 @@ int main() { + DiagSerial.baud(115200); DiagSerial.puts("TankDrive Diagnostics\r"); + + // have been getting lock-ups when running app. could 57600 be too fast for BT UART on K64F? CmdSerial.baud(57600); CmdSerial.puts("\r\nTankDrive for K64F with Bluetooth\r\n\n"); CmdSerial.attach(&gotChar); // singleton serial character buffer - DiagSerial.baud(115200); DiagSerial.puts("TankDrive Diagnostics\r"); // Set motor drive parameters initMotorDrive(MotL);