Diff: source/movement.cpp

Revision:

19:baa8371d55b4

Parent:

18:a82994e67297

Child:

20:859c7aebf8a6

--- a/source/movement.cpp	Thu Mar 02 08:16:07 2017 +0000
+++ b/source/movement.cpp	Thu Mar 02 08:48:50 2017 +0000
@@ -5,43 +5,77 @@
 
 
 #include "mbed.h"
+#include "move.h"
 
-double time_counter = 0.0f;
-double deltatime = 0.0f;
+static double time_counter = 0.0f;
+static double timer0 = 0.0f;
+
+static float correction_value = 1.01f;
+static float power_value_slow = 0.6f;
+static float power_value_medium = 0.7f;
+static float power_value_fast = 0.8f;
+static float ludicrous_value = 1.0f;
+
+//motor stuff
+DigitalOut enableMotorDriver(PB_2);
+PwmOut pwmL(PA_8);
+PwmOut pwmR(PA_9);
 
 void move_init()
 {
-    
+    pwmL.period(0.00005f); // Setzt die Periode auf 50 μs
+    pwmR.period(0.00005f);
+
+    pwmL = 0.5f; // Setzt die Duty-Cycle auf 50%
+    pwmR = 0.5f;
+    enableMotorDriver = 0;
 }
 
 void move_forward_slow()
 {
-    
+    pwmL = power_value_slow;
+    pwmR = 1-power_value_slow*correction_value;
+    enableMotorDriver = 1;
 }
 
 void move_forward_medium()
 {
-
+    pwmL = power_value_medium;
+    pwmR = 1-power_value_medium*correction_value;
+    enableMotorDriver = 1;
 }
 
 void move_forward_fast()
 {
-
+    pwmL = power_value_fast;
+    pwmR = 1-power_value_fast*correction_value;
+    enableMotorDriver = 1;
 }
 
 void move_backward_slow()
 {
-
+    pwmL = 1-power_value_slow*correction_value;
+    pwmR = power_value_slow;
+    enableMotorDriver = 1;
 }
 
-void move_forward_slow()
+void move_backward_medium()
 {
-
+    pwmL = 1-power_value_slow*correction_value;
+    pwmR = power_value_slow;
+    enableMotorDriver = 1;
 }
 
-void move_forward_slow()
+void move_backward_fast()
 {
+    pwmL = 1-power_value_slow*correction_value;
+    pwmR = power_value_slow;
+    enableMotorDriver = 1;
+}
 
+void stop_movement()
+{
+    enableMotorDriver = 1;
 }