Eimantas Bernotavicius / Mbed 2 deprecated Nucleo_pwm

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Dependencies:   mbed

pwm.cpp@0:5ffcaef3e603, 2018-04-18 (annotated)

Committer:
Weranest
Date:
Wed Apr 18 16:53:05 2018 +0000
Revision:
0:5ffcaef3e603
Control added

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Weranest 0:5ffcaef3e603 1 //this defines motor setup and movement
Weranest 0:5ffcaef3e603 2 #include "mbed.h"
Weranest 0:5ffcaef3e603 3 #include "pins.cpp"
Weranest 0:5ffcaef3e603 4 //will have to determine real pulsewidths by testing with encoder
Weranest 0:5ffcaef3e603 5 //constants to be utilized in the buggy, can be changed as required
Weranest 0:5ffcaef3e603 6 #define NORMAL_PWM 0.2f
Weranest 0:5ffcaef3e603 7 #define FAST_PWM 0.7f
Weranest 0:5ffcaef3e603 8 #define SLOW_PWM 0.3f
Weranest 0:5ffcaef3e603 9 #define RIGHT_MOTOR_CONST 1
Weranest 0:5ffcaef3e603 10 #define LEFT_MOTOR_CONST 1
Weranest 0:5ffcaef3e603 11 #define MOTOR_PERIOD 1.0f
Weranest 0:5ffcaef3e603 12 //currently the setup uses unipolar mode, hence the need for direction
Weranest 0:5ffcaef3e603 13
Weranest 0:5ffcaef3e603 14
Weranest 0:5ffcaef3e603 15 void motorSetup(){
Weranest 0:5ffcaef3e603 16 motorRight.period_ms(MOTOR_PERIOD);
Weranest 0:5ffcaef3e603 17 motorLeft.period_ms(MOTOR_PERIOD);
Weranest 0:5ffcaef3e603 18 motorDirLeft.write(1);
Weranest 0:5ffcaef3e603 19 motorDirRight.write(1);
Weranest 0:5ffcaef3e603 20 motorModeLeft.write(1);
Weranest 0:5ffcaef3e603 21 motorModeRight.write(1);
Weranest 0:5ffcaef3e603 22 driveBoard.write(1);
Weranest 0:5ffcaef3e603 23 }
Weranest 0:5ffcaef3e603 24 void buggyGoF(){ //drives forward
Weranest 0:5ffcaef3e603 25 motorRight.write(NORMAL_PWM);
Weranest 0:5ffcaef3e603 26 motorLeft.write(NORMAL_PWM);
Weranest 0:5ffcaef3e603 27 }
Weranest 0:5ffcaef3e603 28
Weranest 0:5ffcaef3e603 29 void buggyGoLeft(){// drives left
Weranest 0:5ffcaef3e603 30 motorRight.write(FAST_PWM);
Weranest 0:5ffcaef3e603 31 motorLeft.write(SLOW_PWM);
Weranest 0:5ffcaef3e603 32 }
Weranest 0:5ffcaef3e603 33 void buggyGoRight(){ //drives fast
Weranest 0:5ffcaef3e603 34 motorRight.write(SLOW_PWM);
Weranest 0:5ffcaef3e603 35 motorLeft.write(FAST_PWM);
Weranest 0:5ffcaef3e603 36 }
Weranest 0:5ffcaef3e603 37 void buggyStop(){// no power
Weranest 0:5ffcaef3e603 38 motorRight.write(0.0f);
Weranest 0:5ffcaef3e603 39 motorLeft.write(0.0f);
Weranest 0:5ffcaef3e603 40 }