Tony Lin / Mbed 2 deprecated BX-car_s

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Dependencies:   mbed-rtos mbed

Fork of BX-car_2 by Tony Lin

motor_api.cpp@10:9f0ce6ba7663, 2014-06-26 (annotated)

Committer:
TonyLin
Date:
Thu Jun 26 14:29:53 2014 +0000
Revision:
10:9f0ce6ba7663
Parent:
7:fd976e1ced33 
ok;

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 #define init_v 10 // period in 1.35 ~170ms
backman 0:68c173249c01 4
TonyLin 10:9f0ce6ba7663 5 BX_motor::BX_motor(char type){
TonyLin 10:9f0ce6ba7663 6 //need N level????
backman 0:68c173249c01 7 engine_enable = new DigitalOut(PTE21);
TonyLin 10:9f0ce6ba7663 8 *engine_enable=1;
backman 0:68c173249c01 9 Type=type;
backman 0:68c173249c01 10 switch (type){
backman 0:68c173249c01 11 case 'A':
TonyLin 10:9f0ce6ba7663 12 forward_A = new PwmOut(PTC3);
TonyLin 10:9f0ce6ba7663 13 backward_A = new PwmOut(PTC4);
backman 0:68c173249c01 14
backman 0:68c173249c01 15 forward_A->period_ms(init_v);
backman 0:68c173249c01 16 backward_A->period_ms(init_v);
TonyLin 10:9f0ce6ba7663 17 *forward_A=0.0f;
TonyLin 10:9f0ce6ba7663 18 *backward_A=0.0f;
TonyLin 10:9f0ce6ba7663 19 break;
backman 0:68c173249c01 20
TonyLin 10:9f0ce6ba7663 21 case 'B':
TonyLin 10:9f0ce6ba7663 22 forward_B = new PwmOut(PTE29);
TonyLin 10:9f0ce6ba7663 23 backward_B = new PwmOut(PTE23);
backman 0:68c173249c01 24 forward_B->period_ms(init_v);
backman 0:68c173249c01 25 backward_B->period_ms(init_v);
TonyLin 10:9f0ce6ba7663 26 *forward_B=0.0f;
TonyLin 10:9f0ce6ba7663 27 *backward_B=0.0f;
TonyLin 10:9f0ce6ba7663 28 break;
backman 0:68c173249c01 29 }
TonyLin 10:9f0ce6ba7663 30 }
backman 0:68c173249c01 31
backman 0:68c173249c01 32
backman 0:68c173249c01 33 // level: -1.0 ~1.0
backman 0:68c173249c01 34 void BX_motor::rotate(float level){
backman 0:68c173249c01 35
backman 0:68c173249c01 36 Level=level;
backman 0:68c173249c01 37
backman 0:68c173249c01 38 if(level >0){
backman 0:68c173249c01 39 switch(Type){
backman 0:68c173249c01 40 case 'A':
backman 0:68c173249c01 41 *forward_A=level;
TonyLin 10:9f0ce6ba7663 42 *backward_A=0.01;
backman 0:68c173249c01 43 break;
backman 0:68c173249c01 44 case 'B':
backman 0:68c173249c01 45 *forward_B=level;
TonyLin 10:9f0ce6ba7663 46 *backward_B=0.01;
backman 0:68c173249c01 47 break;
backman 0:68c173249c01 48 }
TonyLin 10:9f0ce6ba7663 49 }
TonyLin 10:9f0ce6ba7663 50 else if(level <0){
TonyLin 10:9f0ce6ba7663 51 level=-1.0*level;
TonyLin 10:9f0ce6ba7663 52 switch(Type){
backman 0:68c173249c01 53 case 'A':
TonyLin 10:9f0ce6ba7663 54 *forward_A=0.01;
backman 0:68c173249c01 55 *backward_A=level;
backman 0:68c173249c01 56 break;
backman 0:68c173249c01 57 case 'B':
TonyLin 10:9f0ce6ba7663 58 *forward_B=0.01;
backman 0:68c173249c01 59 *backward_B=level;
backman 0:68c173249c01 60 break;
backman 0:68c173249c01 61 }
TonyLin 10:9f0ce6ba7663 62 }
backman 0:68c173249c01 63 else{
backman 0:68c173249c01 64 switch(Type){
backman 0:68c173249c01 65
backman 0:68c173249c01 66 case 'A':
backman 0:68c173249c01 67 *forward_A=1.0f;
backman 0:68c173249c01 68 *backward_A=1.0f;
backman 0:68c173249c01 69
backman 0:68c173249c01 70 break;
backman 0:68c173249c01 71 case 'B':
TonyLin 10:9f0ce6ba7663 72 *forward_B=1.0f;
backman 0:68c173249c01 73 *backward_B=1.0f;
backman 0:68c173249c01 74 break;
backman 0:68c173249c01 75 }
TonyLin 10:9f0ce6ba7663 76 }
backman 0:68c173249c01 77 }
backman 0:68c173249c01 78
backman 0:68c173249c01 79
backman 0:68c173249c01 80