StingerBot Project
Dependencies: mbed HMC6352 mbed-rtos
RobotControl.h
- Committer:
- Strikewolf
- Date:
- 2014-04-11
- Revision:
- 0:b6fd1c37944a
- Child:
- 1:41cee26b35cc
File content as of revision 0:b6fd1c37944a:
//******************************************* //* Robot motor control and drive functions * //******************************************* #include "HMC6352.h" //Gyro HMC6532 compass(p28, p27); //H-bridge PwmOut rightMotorPWM(p21); //Channel A PwmOut leftMotorPWM(p22); //Channel B DigitalOut leftMotor1(p23); DigitalOut leftMotor2(p24); DigitalOut rightMotor1(p25); DigitalOut rightMotor2(p26); //Non-feedback corrected 'dumb' driving void setDriveStraight(float speed, bool reverse) { //Set speed rightMotorPWM = speed; leftMotorPWM = speed; //Set motor function leftMotor1 = (!reverse) ? 0 : 1; leftMotor2 = (!reverse) ? 1 : 0; rightMotor1 = (!reverse) ? 0 : 1; rightMotor2 = (!reverse) ? 1 : 0; } //Stop with braking void stop() { rightMotorPWM = 0; leftMotorPWM = 0; leftMotor1 = 0; leftMotor2 = 0; rightMotor1 = 0; rightMotor2 = 0; } //Need compass module void gyroDriveStraight(float speed, bool reverse); void centerTurnLeft(int delta_degrees); void centerTurnRight(int delta_degrees); void driveTurnLeft(int delta_degrees); void driveTurnRight(int delta_degrees);