mechatronics drive
Dependencies: BNO055_fusion mbed
Fork of DEMO3 by
drive.h@6:59f239c83de4, 2016-03-20 (annotated)
- Committer:
- alaurens
- Date:
- Sun Mar 20 20:32:52 2016 +0000
- Revision:
- 6:59f239c83de4
added 3 files drive.h drive.cpp and main.h mains contains constants defined for my other function.; drive.cpp contains 3 function drivestraightS(sideways) driveStraightD(down) and rotate
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
alaurens | 6:59f239c83de4 | 1 | // |
alaurens | 6:59f239c83de4 | 2 | // drive.h |
alaurens | 6:59f239c83de4 | 3 | // MOTORDRIVER |
alaurens | 6:59f239c83de4 | 4 | // |
alaurens | 6:59f239c83de4 | 5 | // Created by Antoine Laurens on 15.03.16. |
alaurens | 6:59f239c83de4 | 6 | // Copyright (c) 2016 Antoine Laurens. All rights reserved. |
alaurens | 6:59f239c83de4 | 7 | // |
alaurens | 6:59f239c83de4 | 8 | |
alaurens | 6:59f239c83de4 | 9 | #ifndef __MOTORDRIVER__drive__ |
alaurens | 6:59f239c83de4 | 10 | #define __MOTORDRIVER__drive__ |
alaurens | 6:59f239c83de4 | 11 | |
alaurens | 6:59f239c83de4 | 12 | #include <stdio.h> |
alaurens | 6:59f239c83de4 | 13 | #include "main.h" |
alaurens | 6:59f239c83de4 | 14 | #include "LOCALIZE.h" |
alaurens | 6:59f239c83de4 | 15 | void down(LOCALIZE_xya *xya,int stopPoint,float *pwmDuty1,float *pwmDuty2); //when the robot goes downwards |
alaurens | 6:59f239c83de4 | 16 | |
alaurens | 6:59f239c83de4 | 17 | void driveStraightD(LOCALIZE_xya *xya,int stopPoint,bool dir,float *pwmDuty1,float *pwmDuty2); //when the robot drives straight (forward or backwards) |
alaurens | 6:59f239c83de4 | 18 | void driveStraightS(LOCALIZE_xya *xya,int stopPoint,bool dir,float *pwmDuty1,float *pwmDuty2); //D down S Side |
alaurens | 6:59f239c83de4 | 19 | |
alaurens | 6:59f239c83de4 | 20 | void rotate(int stopAngle,int initAngle,int robPosx,float *pwmDuty1,float *pwmDuty2); //when the robot rotates use *xya instead of init angle and robPosx |
alaurens | 6:59f239c83de4 | 21 | |
alaurens | 6:59f239c83de4 | 22 | void crossSep(); |
alaurens | 6:59f239c83de4 | 23 | |
alaurens | 6:59f239c83de4 | 24 | void feedbackControl(LOCALIZE_xya *xya,int line,int angle,float *pwmDuty1,float *pwmDuty2); |
alaurens | 6:59f239c83de4 | 25 | |
alaurens | 6:59f239c83de4 | 26 | |
alaurens | 6:59f239c83de4 | 27 | |
alaurens | 6:59f239c83de4 | 28 | |
alaurens | 6:59f239c83de4 | 29 | #endif /* defined(__MOTORDRIVER__drive__) */ |