Crude navigation
Dependencies: GPS2 L3GD20 LSM303DLHC2 PID mbed SDFileSystem
Fork of GPSNavigation by
TrollingMotor.h
- Committer:
- Spilly
- Date:
- 2015-05-09
- Revision:
- 17:ba45eaae96b3
- Parent:
- 14:fd20b7ac8de8
File content as of revision 17:ba45eaae96b3:
/*************************************************************************************************************************************************************/ // Created by: Ryan Spillman // // Last updated 4/29/2015 // // Contains functions for controlling trolling motor relays /*************************************************************************************************************************************************************/ //mbed classes (mbed folder) DigitalOut direction(D5); DigitalOut enable(D4); /*************************************************************************************************************************************************************/ // Relay Trolling Motor Control /*************************************************************************************************************************************************************/ int prevState = 0; void goForward() { //Are we changing states? if(prevState == 2) { //Short to ground will occur if parallel H-Bridge Relays are not synchronous when changing states //turn off Run/Stop relay first to prevent short enable = 0; wait(0.5); enable = 1; prevState = 1; } else { enable = 1; direction = 0; } } void goBackward() { //Are we changing states? if(prevState == 1) { //Short to ground will occur if parallel H-Bridge Relays are not synchronous when changing states //turn off Run/Stop relay first to prevent short enable = 0; wait(0.5); enable = 1; prevState = 2; } else { enable = 1; direction = 1; } } void goStop() { enable = 0; }