Mathias Riis
hej
Revision 0:36611331980a, committed 2014-04-05
- Comitter:
- Risifutti
- Date:
- Sat Apr 05 09:30:52 2014 +0000
- Commit message:
- hej;
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/hack_motor.cpp Sat Apr 05 09:30:52 2014 +0000
@@ -0,0 +1,101 @@
+#include "mbed.h"
+#include "hack_motor.h"
+#include "PwmOut.h"
+
+Wheel::Wheel() : M1A(PTC8), M1B(PTC10), M2A(PTC9), M2B(PTC11), GrabA(PTA5), GrabB(PTC7), HejsA(PTA4), HejsB(PTC5)
+ {
+ init();
+ }
+
+
+void Wheel::init() //Initialize the driver pwm to 150Hz
+ {
+ M1A.period(0.0066);
+ M2A.period(0.0066);
+ GrabA.period(0.0066);
+ HejsA.period(0.0066);
+ speed = 0.0;
+ }
+
+void Wheel::FW()
+ {
+ fw = 0.5+(0.5*speed); //forward lies in the upper 50% of the duty cycle
+ M1A.write(fw); //Set the duty cycle to the wanted percent, from speed variable
+ M2A.write(fw); // -//-
+ M1B = 0;
+ M2B = 0;
+ wait_ms(1);
+ }
+
+void Wheel::BW()
+ {
+ bw = 0.5-(0.5*speed); //Backward lies within the lower 50% of the duty cycle
+ M1A.write(bw); //Set the duty cycle to the wanted percent, from speed variable
+ M2A.write(bw); // -//-
+ M1B = 1;
+ M2B = 1;
+ }
+
+void Wheel::right()
+ {
+ M1A.write(0.75); //Left side forward 50%
+ M2A.write(0.25); //Right side backwards 50%
+ M1B = 0;
+ M2B = 1;
+ }
+
+void Wheel::left()
+ {
+ M1A.write(0.25); //Right side forward 50%
+ M2A.write(0.75); //Left side backwards 50%
+ M1B = 1;
+ M2B = 0;
+ }
+
+void Wheel::stop()
+ {
+ M1A.write(0.0); //Pin A's set low
+ M2A.write(0.0);
+ M1B = 0;
+ M2B = 0; //Pin B's set high
+ GrabA.write(0.0);
+ HejsA.write(0.0);
+ GrabB = 0;
+ HejsB = 0;
+ }
+
+void Wheel::open()
+ {
+ GrabA.write(0.3);
+ GrabB = 1;
+ wait(0.9);
+ GrabA.write(0.0);
+ GrabB = 0;
+ }
+
+void Wheel::close()
+ {
+ GrabA.write(0.8);
+ GrabB = 0;
+ wait(0.6);
+ GrabA.write(0.0);
+ GrabB = 0;
+ }
+
+ void Wheel::hejs()
+ {
+ HejsA.write(0.75);
+ HejsB = 0;
+ wait(0.3);
+ HejsA.write(0.0);
+ HejsB = 0;
+ }
+
+void Wheel::saenk()
+ {
+ HejsA.write(0.25);
+ HejsB = 1;
+ wait(0.3);
+ HejsA.write(0.0);
+ HejsA = 0;
+ }
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/hack_motor.h Sat Apr 05 09:30:52 2014 +0000
@@ -0,0 +1,34 @@
+#ifndef HACK_MOTOR_H
+#define HACK_MOTOR_H
+#include "mbed.h"
+
+class Wheel {
+
+public:
+ PwmOut M1A, M2A;
+ PwmOut GrabA;
+ PwmOut HejsA;
+
+ DigitalOut M1B, M2B, GrabB, HejsB;
+
+ Wheel();
+ void FW();
+ void BW();
+ void right();
+ void left();
+ void stop();
+ void init();
+ void open();
+ void close();
+ void hejs();
+ void saenk();
+ float speed;
+
+protected:
+ float fw, bw;
+
+};
+
+
+
+#endif
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sat Apr 05 09:30:52 2014 +0000
@@ -0,0 +1,80 @@
+#include "mbed.h"
+#include "hack_motor.h"
+
+Serial pc(USBTX, USBRX);
+
+Wheel robot;
+
+main()
+ {
+ robot.init();
+ char c;
+ pc.printf(" speed 1, 2 & 3, frem w, bagud s, venstre a & hoejre d");
+
+ while (1)
+ {
+ c = pc.getc();
+
+ switch (c)
+ {
+ case 0x31:
+ robot.speed = 1.0;
+ pc.printf("1");
+ break;
+
+ case 0x32:
+ robot.speed = 0.5;
+ pc.printf("2");
+ break;
+
+ case 0x33:
+ robot.speed = 0.25;
+ pc.printf("3");
+ break;
+
+ case 0x77:
+ robot.FW();
+ pc.printf("w");
+ break;
+
+ case 0x73:
+ robot.BW();
+ pc.printf("s");
+ break;
+
+ case 0x61:
+ robot.left();
+ pc.printf("a");
+ break;
+
+ case 0x64:
+ robot.right();
+ pc.printf("d");
+ break;
+
+ case 'n':
+ robot.open();
+ pc.printf("n");
+ break;
+
+ case 'm':
+ robot.close();
+ pc.printf("m");
+ break;
+
+ case 'h':
+ robot.hejs();
+ pc.printf("h");
+ break;
+
+ case 'b':
+ robot.saenk();
+ pc.printf("b");
+ break;
+
+ default :
+ robot.stop();
+ break;
+ }
+ }
+ }
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sat Apr 05 09:30:52 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/7d30d6019079 \ No newline at end of file