Richard Ames / Mbed 2 deprecated rover

Drive wheeled robot platform

Dependencies:   mbed

Fork of mbed_blinky by Mbed

main.cpp@8:840b3b80cfa2, 2017-05-22 (annotated)

Committer:
RichardAmes
Date:
Mon May 22 21:17:29 2017 +0000
Revision:
8:840b3b80cfa2
Parent:
4:81cea7a352b0
Child:
9:ada1a8a81354
Initial Check In

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dan 0:7dec7e9ac085 1 #include "mbed.h"
dan 0:7dec7e9ac085 2
RichardAmes 8:840b3b80cfa2 3 DigitalOut drive_led(LED2);
RichardAmes 8:840b3b80cfa2 4 PwmOut motorA(PTD0);
RichardAmes 8:840b3b80cfa2 5 PwmOut motorB(PTD5);
RichardAmes 8:840b3b80cfa2 6 DigitalOut dirB1(PTA13);
RichardAmes 8:840b3b80cfa2 7 DigitalOut dirB2(PTC9);
RichardAmes 8:840b3b80cfa2 8 DigitalOut dirA2(PTC8);
RichardAmes 8:840b3b80cfa2 9 DigitalOut dirA1(PTA5);
RichardAmes 8:840b3b80cfa2 10
RichardAmes 8:840b3b80cfa2 11 /* set pulse width for motor drive signals */
RichardAmes 8:840b3b80cfa2 12 void drive_init(void)
RichardAmes 8:840b3b80cfa2 13 {
RichardAmes 8:840b3b80cfa2 14 motorA.period(0.01f);
RichardAmes 8:840b3b80cfa2 15 motorB.period(0.01f);
RichardAmes 8:840b3b80cfa2 16 }
dan 0:7dec7e9ac085 17
RichardAmes 8:840b3b80cfa2 18 /* set signals to move motors */
RichardAmes 8:840b3b80cfa2 19 /* bias min c. 25, max 100 */
RichardAmes 8:840b3b80cfa2 20 void move(int bias_a, int bias_b, int milliseconds)
RichardAmes 8:840b3b80cfa2 21 {
RichardAmes 8:840b3b80cfa2 22 if ((bias_a == 0) && (bias_b == 0))
RichardAmes 8:840b3b80cfa2 23 drive_led = 1;
RichardAmes 8:840b3b80cfa2 24 else
RichardAmes 8:840b3b80cfa2 25 drive_led = 0;
RichardAmes 8:840b3b80cfa2 26 if (bias_a < 0)
RichardAmes 8:840b3b80cfa2 27 {
RichardAmes 8:840b3b80cfa2 28 dirA1 = 0;
RichardAmes 8:840b3b80cfa2 29 dirA2 = 1;
RichardAmes 8:840b3b80cfa2 30 }
RichardAmes 8:840b3b80cfa2 31 else if (bias_a > 0)
RichardAmes 8:840b3b80cfa2 32 {
RichardAmes 8:840b3b80cfa2 33 dirA1 = 1;
RichardAmes 8:840b3b80cfa2 34 dirA2 = 0;
RichardAmes 8:840b3b80cfa2 35 }
RichardAmes 8:840b3b80cfa2 36 else
RichardAmes 8:840b3b80cfa2 37 {
RichardAmes 8:840b3b80cfa2 38 dirA1 = 1;
RichardAmes 8:840b3b80cfa2 39 dirA2 = 1;
RichardAmes 8:840b3b80cfa2 40 }
RichardAmes 8:840b3b80cfa2 41 if (bias_b < 0)
RichardAmes 8:840b3b80cfa2 42 {
RichardAmes 8:840b3b80cfa2 43 dirB1 = 1;
RichardAmes 8:840b3b80cfa2 44 dirB2 = 0;
RichardAmes 8:840b3b80cfa2 45 }
RichardAmes 8:840b3b80cfa2 46 else if (bias_b > 0)
RichardAmes 8:840b3b80cfa2 47 {
RichardAmes 8:840b3b80cfa2 48 dirB1 = 0;
RichardAmes 8:840b3b80cfa2 49 dirB2 = 1;
RichardAmes 8:840b3b80cfa2 50 }
RichardAmes 8:840b3b80cfa2 51 else
RichardAmes 8:840b3b80cfa2 52 {
RichardAmes 8:840b3b80cfa2 53 dirB1 = 1;
RichardAmes 8:840b3b80cfa2 54 dirB2 = 1;
RichardAmes 8:840b3b80cfa2 55 }
RichardAmes 8:840b3b80cfa2 56 motorA.write((float)abs(bias_a) / 100);
RichardAmes 8:840b3b80cfa2 57 motorB.write((float)abs(bias_b) / 100);
RichardAmes 8:840b3b80cfa2 58 wait_ms(milliseconds);
RichardAmes 8:840b3b80cfa2 59 }
RichardAmes 8:840b3b80cfa2 60
RichardAmes 8:840b3b80cfa2 61 int main()
RichardAmes 8:840b3b80cfa2 62 {
RichardAmes 8:840b3b80cfa2 63 drive_init();
RichardAmes 8:840b3b80cfa2 64
RichardAmes 8:840b3b80cfa2 65 move(0, 0, 500);
RichardAmes 8:840b3b80cfa2 66 move(40, 40, 500);
RichardAmes 8:840b3b80cfa2 67 move(0, 100, 300);
RichardAmes 8:840b3b80cfa2 68 move(40, 40, 500);
RichardAmes 8:840b3b80cfa2 69 move(0, 100, 300);
RichardAmes 8:840b3b80cfa2 70 move(40, 40, 500);
RichardAmes 8:840b3b80cfa2 71 move(0, 100, 300);
RichardAmes 8:840b3b80cfa2 72 move(40, 40, 500);
RichardAmes 8:840b3b80cfa2 73 move(0, 100, 300);
RichardAmes 8:840b3b80cfa2 74
RichardAmes 8:840b3b80cfa2 75 while(1)
RichardAmes 8:840b3b80cfa2 76 {
RichardAmes 8:840b3b80cfa2 77 move(0, 0, 500);
stevep 4:81cea7a352b0 78 }
dan 0:7dec7e9ac085 79 }