David Spillman / Mbed 2 deprecated GPSNavigation

Crude navigation

Dependencies:   GPS L3GD20 LSM303DLHC mbed PID

move.h@0:e79311aae7ed, 2015-02-21 (annotated)

Committer:
Spilly
Date:
Sat Feb 21 01:14:46 2015 +0000
Revision:
0:e79311aae7ed
Crude GPS navigation.  Determines whether to turn right, left, or go straight based on goal position, current position, and heading.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Spilly 0:e79311aae7ed 1 //L298n connections
Spilly 0:e79311aae7ed 2 DigitalOut pinI1(D5);
Spilly 0:e79311aae7ed 3 DigitalOut pinI2(D6);
Spilly 0:e79311aae7ed 4 DigitalOut pinI3(D10);
Spilly 0:e79311aae7ed 5 DigitalOut pinI4(D11);
Spilly 0:e79311aae7ed 6 PwmOut ENA(D12); //Left
Spilly 0:e79311aae7ed 7 PwmOut ENB(D13); //Right
Spilly 0:e79311aae7ed 8
Spilly 0:e79311aae7ed 9 void goStop(float valueOne, float valueTwo)
Spilly 0:e79311aae7ed 10 {
Spilly 0:e79311aae7ed 11 pinI1 = 0;
Spilly 0:e79311aae7ed 12 pinI2 = 0;
Spilly 0:e79311aae7ed 13 pinI3 = 0;
Spilly 0:e79311aae7ed 14 pinI4 = 0;
Spilly 0:e79311aae7ed 15 ENA = valueOne;
Spilly 0:e79311aae7ed 16 ENB = valueTwo;
Spilly 0:e79311aae7ed 17 }
Spilly 0:e79311aae7ed 18
Spilly 0:e79311aae7ed 19 void goForward(float valueOne, float valueTwo)
Spilly 0:e79311aae7ed 20 {
Spilly 0:e79311aae7ed 21 pinI1 = 1;
Spilly 0:e79311aae7ed 22 pinI2 = 0;
Spilly 0:e79311aae7ed 23 pinI3 = 0;
Spilly 0:e79311aae7ed 24 pinI4 = 1;
Spilly 0:e79311aae7ed 25 ENA = valueOne;
Spilly 0:e79311aae7ed 26 ENB = valueTwo;
Spilly 0:e79311aae7ed 27 }
Spilly 0:e79311aae7ed 28
Spilly 0:e79311aae7ed 29 void goBackward(float valueOne, float valueTwo)
Spilly 0:e79311aae7ed 30 {
Spilly 0:e79311aae7ed 31 pinI1 = 0;
Spilly 0:e79311aae7ed 32 pinI2 = 1;
Spilly 0:e79311aae7ed 33 pinI3 = 1;
Spilly 0:e79311aae7ed 34 pinI4 = 0;
Spilly 0:e79311aae7ed 35 ENA = valueOne;
Spilly 0:e79311aae7ed 36 ENB = valueTwo;
Spilly 0:e79311aae7ed 37 }
Spilly 0:e79311aae7ed 38
Spilly 0:e79311aae7ed 39 void goLeft(float valueOne, float valueTwo)
Spilly 0:e79311aae7ed 40 {
Spilly 0:e79311aae7ed 41 pinI1 = 0;
Spilly 0:e79311aae7ed 42 pinI2 = 1;
Spilly 0:e79311aae7ed 43 pinI3 = 0;
Spilly 0:e79311aae7ed 44 pinI4 = 1;
Spilly 0:e79311aae7ed 45 ENA = valueOne;
Spilly 0:e79311aae7ed 46 ENB = valueTwo;
Spilly 0:e79311aae7ed 47 }
Spilly 0:e79311aae7ed 48
Spilly 0:e79311aae7ed 49 void goRight(float valueOne, float valueTwo)
Spilly 0:e79311aae7ed 50 {
Spilly 0:e79311aae7ed 51 pinI1 = 1;
Spilly 0:e79311aae7ed 52 pinI2 = 0;
Spilly 0:e79311aae7ed 53 pinI3 = 1;
Spilly 0:e79311aae7ed 54 pinI4 = 0;
Spilly 0:e79311aae7ed 55 ENA = valueOne;
Spilly 0:e79311aae7ed 56 ENB = valueTwo;
Spilly 0:e79311aae7ed 57 }