amin omar
/
Motorslam
Motor class for the robot
Motorslam.cpp@0:550e01736339, 2016-05-04 (annotated)
- Committer:
- aminomar
- Date:
- Wed May 04 18:47:50 2016 +0000
- Revision:
- 0:550e01736339
motor;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
aminomar | 0:550e01736339 | 1 | //libraries// |
aminomar | 0:550e01736339 | 2 | #include "mbed.h" |
aminomar | 0:550e01736339 | 3 | #include "Motorslam.h" |
aminomar | 0:550e01736339 | 4 | |
aminomar | 0:550e01736339 | 5 | #define SIG_HIGH (1) |
aminomar | 0:550e01736339 | 6 | #define SIG_LOW (0) |
aminomar | 0:550e01736339 | 7 | |
aminomar | 0:550e01736339 | 8 | Motorslam::Motorslam(PinName pinPwmLeft, PinName pinLeftIn1, PinName pinLeftIn2, |
aminomar | 0:550e01736339 | 9 | PinName pinPwmRight, PinName pinRightIn1, PinName pinRightIn2, |
aminomar | 0:550e01736339 | 10 | PinName pinNStby): |
aminomar | 0:550e01736339 | 11 | |
aminomar | 0:550e01736339 | 12 | pwmLeft(pinPwmLeft), |
aminomar | 0:550e01736339 | 13 | leftIn1(pinLeftIn1), |
aminomar | 0:550e01736339 | 14 | leftIn2(pinLeftIn2), |
aminomar | 0:550e01736339 | 15 | pwmRight(pinPwmRight), |
aminomar | 0:550e01736339 | 16 | rightIn1(pinRightIn1), |
aminomar | 0:550e01736339 | 17 | rightIn2(pinRightIn2), |
aminomar | 0:550e01736339 | 18 | nStby(pinNStby) |
aminomar | 0:550e01736339 | 19 | { |
aminomar | 0:550e01736339 | 20 | leftIn1 = SIG_LOW; |
aminomar | 0:550e01736339 | 21 | leftIn2 = SIG_LOW; |
aminomar | 0:550e01736339 | 22 | rightIn1 = SIG_LOW; |
aminomar | 0:550e01736339 | 23 | rightIn2 = SIG_LOW; |
aminomar | 0:550e01736339 | 24 | nStby = SIG_LOW; |
aminomar | 0:550e01736339 | 25 | pwmLeft.period(DEFAULT_PWM_PERIOD); |
aminomar | 0:550e01736339 | 26 | pwmLeft = DEFAULT_PWM_PULSEWIDTH; |
aminomar | 0:550e01736339 | 27 | pwmRight.period(DEFAULT_PWM_PERIOD); |
aminomar | 0:550e01736339 | 28 | pwmLeft = DEFAULT_PWM_PULSEWIDTH; |
aminomar | 0:550e01736339 | 29 | } |
aminomar | 0:550e01736339 | 30 | |
aminomar | 0:550e01736339 | 31 | void Motorslam::init() |
aminomar | 0:550e01736339 | 32 | { |
aminomar | 0:550e01736339 | 33 | leftIn1 = SIG_LOW; |
aminomar | 0:550e01736339 | 34 | leftIn2 = SIG_LOW; |
aminomar | 0:550e01736339 | 35 | rightIn1 = SIG_LOW; |
aminomar | 0:550e01736339 | 36 | rightIn2 = SIG_LOW; |
aminomar | 0:550e01736339 | 37 | nStby = SIG_LOW; |
aminomar | 0:550e01736339 | 38 | pwmLeft.period(DEFAULT_PWM_PERIOD); |
aminomar | 0:550e01736339 | 39 | pwmLeft = DEFAULT_PWM_PULSEWIDTH; |
aminomar | 0:550e01736339 | 40 | pwmRight.period(DEFAULT_PWM_PERIOD); |
aminomar | 0:550e01736339 | 41 | pwmLeft = DEFAULT_PWM_PULSEWIDTH; |
aminomar | 0:550e01736339 | 42 | } |
aminomar | 0:550e01736339 | 43 | |
aminomar | 0:550e01736339 | 44 | void Motorslam::setPwmLeft(float fPeriod, float fPulsewidth) |
aminomar | 0:550e01736339 | 45 | { |
aminomar | 0:550e01736339 | 46 | pwmLeft.period(fPeriod); |
aminomar | 0:550e01736339 | 47 | pwmLeft = fPulsewidth; |
aminomar | 0:550e01736339 | 48 | } |
aminomar | 0:550e01736339 | 49 | |
aminomar | 0:550e01736339 | 50 | void Motorslam::setPwmLeftperiod(float fPeriod) |
aminomar | 0:550e01736339 | 51 | { |
aminomar | 0:550e01736339 | 52 | pwmLeft.period(fPeriod); |
aminomar | 0:550e01736339 | 53 | } |
aminomar | 0:550e01736339 | 54 | |
aminomar | 0:550e01736339 | 55 | void Motorslam::setPwmLeftpulsewidth(float fPulsewidth) |
aminomar | 0:550e01736339 | 56 | { |
aminomar | 0:550e01736339 | 57 | pwmLeft = fPulsewidth; |
aminomar | 0:550e01736339 | 58 | } |
aminomar | 0:550e01736339 | 59 | |
aminomar | 0:550e01736339 | 60 | void Motorslam::setPwmRight(float fPeriod, float fPulsewidth) |
aminomar | 0:550e01736339 | 61 | { |
aminomar | 0:550e01736339 | 62 | pwmRight.period(fPeriod); |
aminomar | 0:550e01736339 | 63 | pwmRight = fPulsewidth; |
aminomar | 0:550e01736339 | 64 | } |
aminomar | 0:550e01736339 | 65 | |
aminomar | 0:550e01736339 | 66 | void Motorslam::setPwmRightperiod(float fPeriod) |
aminomar | 0:550e01736339 | 67 | { |
aminomar | 0:550e01736339 | 68 | pwmRight.period(fPeriod); |
aminomar | 0:550e01736339 | 69 | } |
aminomar | 0:550e01736339 | 70 | |
aminomar | 0:550e01736339 | 71 | void Motorslam::setPwmRightpulsewidth(float fPulsewidth) |
aminomar | 0:550e01736339 | 72 | { |
aminomar | 0:550e01736339 | 73 | pwmRight = fPulsewidth; |
aminomar | 0:550e01736339 | 74 | } |
aminomar | 0:550e01736339 | 75 | |
aminomar | 0:550e01736339 | 76 | void Motorslam::standby(void) |
aminomar | 0:550e01736339 | 77 | { |
aminomar | 0:550e01736339 | 78 | nStby = SIG_LOW; |
aminomar | 0:550e01736339 | 79 | } |
aminomar | 0:550e01736339 | 80 | |
aminomar | 0:550e01736339 | 81 | void Motorslam::motorLeft_stop(void) |
aminomar | 0:550e01736339 | 82 | { |
aminomar | 0:550e01736339 | 83 | leftIn1 = SIG_LOW; |
aminomar | 0:550e01736339 | 84 | leftIn2 = SIG_LOW; |
aminomar | 0:550e01736339 | 85 | } |
aminomar | 0:550e01736339 | 86 | |
aminomar | 0:550e01736339 | 87 | void Motorslam::motorLeft_cw(void) |
aminomar | 0:550e01736339 | 88 | { |
aminomar | 0:550e01736339 | 89 | leftIn1 = SIG_HIGH; |
aminomar | 0:550e01736339 | 90 | leftIn2 = SIG_LOW; |
aminomar | 0:550e01736339 | 91 | nStby = SIG_HIGH; |
aminomar | 0:550e01736339 | 92 | } |
aminomar | 0:550e01736339 | 93 | void Motorslam::motorLeft_ccw(void) |
aminomar | 0:550e01736339 | 94 | { |
aminomar | 0:550e01736339 | 95 | leftIn1 = SIG_LOW; |
aminomar | 0:550e01736339 | 96 | leftIn2 = SIG_HIGH; |
aminomar | 0:550e01736339 | 97 | nStby = SIG_HIGH; |
aminomar | 0:550e01736339 | 98 | } |
aminomar | 0:550e01736339 | 99 | |
aminomar | 0:550e01736339 | 100 | void Motorslam::motorRight_stop(void) |
aminomar | 0:550e01736339 | 101 | { |
aminomar | 0:550e01736339 | 102 | rightIn1 = SIG_LOW; |
aminomar | 0:550e01736339 | 103 | rightIn2 = SIG_LOW; |
aminomar | 0:550e01736339 | 104 | } |
aminomar | 0:550e01736339 | 105 | void Motorslam::motorRight_cw(void) |
aminomar | 0:550e01736339 | 106 | { |
aminomar | 0:550e01736339 | 107 | rightIn1 = SIG_HIGH; |
aminomar | 0:550e01736339 | 108 | rightIn2 = SIG_LOW; |
aminomar | 0:550e01736339 | 109 | nStby = SIG_HIGH; |
aminomar | 0:550e01736339 | 110 | } |
aminomar | 0:550e01736339 | 111 | void Motorslam::motorRight_ccw(void) |
aminomar | 0:550e01736339 | 112 | { |
aminomar | 0:550e01736339 | 113 | rightIn1 = SIG_LOW; |
aminomar | 0:550e01736339 | 114 | rightIn2 = SIG_HIGH; |
aminomar | 0:550e01736339 | 115 | nStby = SIG_HIGH; |
aminomar | 0:550e01736339 | 116 | } |
aminomar | 0:550e01736339 | 117 | |
aminomar | 0:550e01736339 | 118 | void Motorslam::moveStop(void) |
aminomar | 0:550e01736339 | 119 | { |
aminomar | 0:550e01736339 | 120 | Motorslam::standby(); |
aminomar | 0:550e01736339 | 121 | } |
aminomar | 0:550e01736339 | 122 | void Motorslam::moveForward(void) |
aminomar | 0:550e01736339 | 123 | { |
aminomar | 0:550e01736339 | 124 | Motorslam::motorLeft_cw(); |
aminomar | 0:550e01736339 | 125 | Motorslam::motorRight_cw(); |
aminomar | 0:550e01736339 | 126 | } |
aminomar | 0:550e01736339 | 127 | void Motorslam::moveBackward(void) |
aminomar | 0:550e01736339 | 128 | { |
aminomar | 0:550e01736339 | 129 | Motorslam::motorLeft_ccw(); |
aminomar | 0:550e01736339 | 130 | Motorslam::motorRight_ccw(); |
aminomar | 0:550e01736339 | 131 | } |
aminomar | 0:550e01736339 | 132 | void Motorslam::moveLeft(void) |
aminomar | 0:550e01736339 | 133 | { |
aminomar | 0:550e01736339 | 134 | Motorslam::motorLeft_ccw(); |
aminomar | 0:550e01736339 | 135 | Motorslam::motorRight_cw(); |
aminomar | 0:550e01736339 | 136 | wait(0.5);//trial; (0.5) for low friction(wooden floor); (0.7) for high friction |
aminomar | 0:550e01736339 | 137 | Motorslam::moveStop();//trial |
aminomar | 0:550e01736339 | 138 | } |
aminomar | 0:550e01736339 | 139 | void Motorslam::moveRight(void) |
aminomar | 0:550e01736339 | 140 | { |
aminomar | 0:550e01736339 | 141 | Motorslam::motorLeft_cw(); |
aminomar | 0:550e01736339 | 142 | Motorslam::motorRight_ccw(); |
aminomar | 0:550e01736339 | 143 | wait(0.5);//trial; (0.5) for low friction(wooden floor); (0.7) for high friction |
aminomar | 0:550e01736339 | 144 | Motorslam::moveStop();//trial |
aminomar | 0:550e01736339 | 145 | } |
aminomar | 0:550e01736339 | 146 |