Mathias Riis / Mbed 2 deprecated Hackathon

hej

Dependencies:   mbed

hack_motor.cpp@0:36611331980a, 2014-04-05 (annotated)

Committer:
Risifutti
Date:
Sat Apr 05 09:30:52 2014 +0000
Revision:
0:36611331980a
hej;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Risifutti 0:36611331980a 1 #include "mbed.h"
Risifutti 0:36611331980a 2 #include "hack_motor.h"
Risifutti 0:36611331980a 3 #include "PwmOut.h"
Risifutti 0:36611331980a 4
Risifutti 0:36611331980a 5 Wheel::Wheel() : M1A(PTC8), M1B(PTC10), M2A(PTC9), M2B(PTC11), GrabA(PTA5), GrabB(PTC7), HejsA(PTA4), HejsB(PTC5)
Risifutti 0:36611331980a 6 {
Risifutti 0:36611331980a 7 init();
Risifutti 0:36611331980a 8 }
Risifutti 0:36611331980a 9
Risifutti 0:36611331980a 10
Risifutti 0:36611331980a 11 void Wheel::init() //Initialize the driver pwm to 150Hz
Risifutti 0:36611331980a 12 {
Risifutti 0:36611331980a 13 M1A.period(0.0066);
Risifutti 0:36611331980a 14 M2A.period(0.0066);
Risifutti 0:36611331980a 15 GrabA.period(0.0066);
Risifutti 0:36611331980a 16 HejsA.period(0.0066);
Risifutti 0:36611331980a 17 speed = 0.0;
Risifutti 0:36611331980a 18 }
Risifutti 0:36611331980a 19
Risifutti 0:36611331980a 20 void Wheel::FW()
Risifutti 0:36611331980a 21 {
Risifutti 0:36611331980a 22 fw = 0.5+(0.5*speed); //forward lies in the upper 50% of the duty cycle
Risifutti 0:36611331980a 23 M1A.write(fw); //Set the duty cycle to the wanted percent, from speed variable
Risifutti 0:36611331980a 24 M2A.write(fw); // -//-
Risifutti 0:36611331980a 25 M1B = 0;
Risifutti 0:36611331980a 26 M2B = 0;
Risifutti 0:36611331980a 27 wait_ms(1);
Risifutti 0:36611331980a 28 }
Risifutti 0:36611331980a 29
Risifutti 0:36611331980a 30 void Wheel::BW()
Risifutti 0:36611331980a 31 {
Risifutti 0:36611331980a 32 bw = 0.5-(0.5*speed); //Backward lies within the lower 50% of the duty cycle
Risifutti 0:36611331980a 33 M1A.write(bw); //Set the duty cycle to the wanted percent, from speed variable
Risifutti 0:36611331980a 34 M2A.write(bw); // -//-
Risifutti 0:36611331980a 35 M1B = 1;
Risifutti 0:36611331980a 36 M2B = 1;
Risifutti 0:36611331980a 37 }
Risifutti 0:36611331980a 38
Risifutti 0:36611331980a 39 void Wheel::right()
Risifutti 0:36611331980a 40 {
Risifutti 0:36611331980a 41 M1A.write(0.75); //Left side forward 50%
Risifutti 0:36611331980a 42 M2A.write(0.25); //Right side backwards 50%
Risifutti 0:36611331980a 43 M1B = 0;
Risifutti 0:36611331980a 44 M2B = 1;
Risifutti 0:36611331980a 45 }
Risifutti 0:36611331980a 46
Risifutti 0:36611331980a 47 void Wheel::left()
Risifutti 0:36611331980a 48 {
Risifutti 0:36611331980a 49 M1A.write(0.25); //Right side forward 50%
Risifutti 0:36611331980a 50 M2A.write(0.75); //Left side backwards 50%
Risifutti 0:36611331980a 51 M1B = 1;
Risifutti 0:36611331980a 52 M2B = 0;
Risifutti 0:36611331980a 53 }
Risifutti 0:36611331980a 54
Risifutti 0:36611331980a 55 void Wheel::stop()
Risifutti 0:36611331980a 56 {
Risifutti 0:36611331980a 57 M1A.write(0.0); //Pin A's set low
Risifutti 0:36611331980a 58 M2A.write(0.0);
Risifutti 0:36611331980a 59 M1B = 0;
Risifutti 0:36611331980a 60 M2B = 0; //Pin B's set high
Risifutti 0:36611331980a 61 GrabA.write(0.0);
Risifutti 0:36611331980a 62 HejsA.write(0.0);
Risifutti 0:36611331980a 63 GrabB = 0;
Risifutti 0:36611331980a 64 HejsB = 0;
Risifutti 0:36611331980a 65 }
Risifutti 0:36611331980a 66
Risifutti 0:36611331980a 67 void Wheel::open()
Risifutti 0:36611331980a 68 {
Risifutti 0:36611331980a 69 GrabA.write(0.3);
Risifutti 0:36611331980a 70 GrabB = 1;
Risifutti 0:36611331980a 71 wait(0.9);
Risifutti 0:36611331980a 72 GrabA.write(0.0);
Risifutti 0:36611331980a 73 GrabB = 0;
Risifutti 0:36611331980a 74 }
Risifutti 0:36611331980a 75
Risifutti 0:36611331980a 76 void Wheel::close()
Risifutti 0:36611331980a 77 {
Risifutti 0:36611331980a 78 GrabA.write(0.8);
Risifutti 0:36611331980a 79 GrabB = 0;
Risifutti 0:36611331980a 80 wait(0.6);
Risifutti 0:36611331980a 81 GrabA.write(0.0);
Risifutti 0:36611331980a 82 GrabB = 0;
Risifutti 0:36611331980a 83 }
Risifutti 0:36611331980a 84
Risifutti 0:36611331980a 85 void Wheel::hejs()
Risifutti 0:36611331980a 86 {
Risifutti 0:36611331980a 87 HejsA.write(0.75);
Risifutti 0:36611331980a 88 HejsB = 0;
Risifutti 0:36611331980a 89 wait(0.3);
Risifutti 0:36611331980a 90 HejsA.write(0.0);
Risifutti 0:36611331980a 91 HejsB = 0;
Risifutti 0:36611331980a 92 }
Risifutti 0:36611331980a 93
Risifutti 0:36611331980a 94 void Wheel::saenk()
Risifutti 0:36611331980a 95 {
Risifutti 0:36611331980a 96 HejsA.write(0.25);
Risifutti 0:36611331980a 97 HejsB = 1;
Risifutti 0:36611331980a 98 wait(0.3);
Risifutti 0:36611331980a 99 HejsA.write(0.0);
Risifutti 0:36611331980a 100 HejsA = 0;
Risifutti 0:36611331980a 101 }