Tony Lin / Mbed 2 deprecated BX-car

hello

Dependencies:   mbed-rtos mbed

Fork of BX-car by kao yi

motor_api.cpp@14:303b22b76d7a, 2014-06-28 (annotated)

Committer:
TonyLin
Date:
Sat Jun 28 07:32:39 2014 +0000
Revision:
14:303b22b76d7a
Parent:
11:03d5aa2511c4 
Dynamic kp!!!!

Who changed what in which revision?

UserRevisionLine numberNew contents of line
backman 0:68c173249c01 1 #include "mbed.h"
backman 0:68c173249c01 2 #include "motor_api.h"
backman 0:68c173249c01 3
backman 0:68c173249c01 4 #define init_v 10 // period in 1.35 ~170ms
backman 0:68c173249c01 5
backman 0:68c173249c01 6
backman 0:68c173249c01 7
backman 0:68c173249c01 8
backman 0:68c173249c01 9
backman 0:68c173249c01 10
backman 0:68c173249c01 11
backman 0:68c173249c01 12
backman 0:68c173249c01 13 BX_motor::BX_motor(char type){
backman 0:68c173249c01 14
backman 0:68c173249c01 15
backman 0:68c173249c01 16
backman 0:68c173249c01 17
backman 0:68c173249c01 18
backman 0:68c173249c01 19 //need N level????
backman 0:68c173249c01 20 engine_enable = new DigitalOut(PTE21);
backman 0:68c173249c01 21
backman 0:68c173249c01 22 *engine_enable=1;
backman 0:68c173249c01 23
backman 0:68c173249c01 24 Type=type;
backman 0:68c173249c01 25 switch (type){
backman 0:68c173249c01 26
backman 0:68c173249c01 27 case 'A':
backman 0:68c173249c01 28 forward_A = new PwmOut(PTC3);
backman 0:68c173249c01 29 backward_A = new PwmOut(PTC4);
backman 0:68c173249c01 30
backman 0:68c173249c01 31 forward_A->period_ms(init_v);
backman 0:68c173249c01 32 backward_A->period_ms(init_v);
backman 0:68c173249c01 33 *forward_A=0.5f;
backman 0:68c173249c01 34 *backward_A=0.5f;
backman 0:68c173249c01 35
backman 0:68c173249c01 36 break;
backman 0:68c173249c01 37
backman 0:68c173249c01 38
backman 0:68c173249c01 39 case 'B':
backman 0:68c173249c01 40
backman 11:03d5aa2511c4 41 forward_B = new PwmOut(PTE29);
backman 11:03d5aa2511c4 42 backward_B = new PwmOut(PTE23);
backman 0:68c173249c01 43 forward_B->period_ms(init_v);
backman 0:68c173249c01 44 backward_B->period_ms(init_v);
backman 0:68c173249c01 45 *forward_B=0.5f;
backman 0:68c173249c01 46 *backward_B=0.5f;
backman 0:68c173249c01 47 break;
backman 0:68c173249c01 48
backman 0:68c173249c01 49
backman 0:68c173249c01 50
backman 0:68c173249c01 51 }
backman 0:68c173249c01 52
backman 0:68c173249c01 53 }
backman 0:68c173249c01 54
backman 0:68c173249c01 55
backman 0:68c173249c01 56 // level: -1.0 ~1.0
backman 0:68c173249c01 57 void BX_motor::rotate(float level){
backman 0:68c173249c01 58
backman 0:68c173249c01 59 Level=level;
backman 0:68c173249c01 60
backman 0:68c173249c01 61 if(level >0){
backman 0:68c173249c01 62
backman 0:68c173249c01 63 switch(Type){
backman 0:68c173249c01 64
backman 0:68c173249c01 65 case 'A':
backman 0:68c173249c01 66 *forward_A=level;
backman 0:68c173249c01 67 *backward_A=0;
backman 0:68c173249c01 68 break;
backman 0:68c173249c01 69 case 'B':
backman 0:68c173249c01 70 *forward_B=level;
backman 0:68c173249c01 71 *backward_B=0;
backman 0:68c173249c01 72 break;
backman 0:68c173249c01 73 }
backman 0:68c173249c01 74
backman 0:68c173249c01 75 }else if(level <0){
backman 0:68c173249c01 76
backman 0:68c173249c01 77 level=-1.0*level;
backman 0:68c173249c01 78
backman 0:68c173249c01 79 switch(Type){
backman 0:68c173249c01 80
backman 0:68c173249c01 81 case 'A':
backman 0:68c173249c01 82 *forward_A=0;
backman 0:68c173249c01 83 *backward_A=level;
backman 0:68c173249c01 84 break;
backman 0:68c173249c01 85 case 'B':
backman 0:68c173249c01 86 *forward_B=0;
backman 0:68c173249c01 87 *backward_B=level;
backman 0:68c173249c01 88 break;
backman 0:68c173249c01 89 }
backman 0:68c173249c01 90
backman 0:68c173249c01 91 }
backman 0:68c173249c01 92 else{
backman 0:68c173249c01 93 switch(Type){
backman 0:68c173249c01 94
backman 0:68c173249c01 95 case 'A':
backman 0:68c173249c01 96 *forward_A=1.0f;
backman 0:68c173249c01 97 *backward_A=1.0f;
backman 0:68c173249c01 98
backman 0:68c173249c01 99 break;
backman 0:68c173249c01 100 case 'B':
backman 0:68c173249c01 101 *forward_B=1.0f;
backman 0:68c173249c01 102 *backward_B=1.0f;
backman 0:68c173249c01 103 break;
backman 0:68c173249c01 104 }
backman 0:68c173249c01 105
backman 0:68c173249c01 106
backman 0:68c173249c01 107 }
backman 0:68c173249c01 108
backman 0:68c173249c01 109
backman 0:68c173249c01 110
backman 0:68c173249c01 111
backman 0:68c173249c01 112
backman 0:68c173249c01 113
backman 0:68c173249c01 114
backman 0:68c173249c01 115
backman 0:68c173249c01 116
backman 0:68c173249c01 117 }
backman 0:68c173249c01 118
backman 0:68c173249c01 119
backman 0:68c173249c01 120