Diff: main.cpp

Revision:

0:7f8bf6df6c7b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Sep 10 13:22:56 2010 +0000
@@ -0,0 +1,40 @@
+/**
+ * Drive a robot forwards or backwards by supplying a PWM signal to
+ * H-bridges connected to the motors.
+ */
+
+#include "Motor.h"
+#include "QEI.h"
+
+#define PULSES_PER_REVOLUTION 624
+
+Motor leftMotor(p21, p20, p19);  //pwm, inB, inA
+Motor rightMotor(p22, p17, p18); //pwm, inA, inB
+QEI leftQei(p29, p30, NC, 624);  //chanA, chanB, index, ppr
+QEI rightQei(p27, p28, NC, 624); //chanB, chanA, index, ppr
+
+int main() {
+    
+    leftMotor.period(0.00005);  //Set motor PWM periods to 20KHz.
+    rightMotor.period(0.00005);
+
+    int leftPulses  = 0;    //How far the left wheel has travelled.
+    int rightPulses = 0;    //How far the right wheel has travelled.
+    int distance    = 6000; //Number of pulses to travel.
+
+    wait(5); //Wait a few seconds before we start moving.
+    
+    leftMotor.speed(0.4);
+    rightMotor.speed(0.4);
+    
+    while((leftPulses < distance) || (rightPulses < distance)){
+    
+        leftPulses  = leftQei.getPulses();
+        rightPulses = rightQei.getPulses();
+        
+    }
+    
+    leftMotor.brake();
+    rightMotor.brake();
+
+}