Andrew Hellrigel / Mbed 2 deprecated SwerveDriveRobot

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Dependencies:   DriveMotor mbed SteerMotor SwerveDrive SwerveModule

Files at this revision

API Documentation at this revision

Revision 5:164c27f5399b, committed 2022-04-29

Comitter:
andrewh33
Date:
Fri Apr 29 11:12:00 2022 +0000
Parent:
4:7be1da65326d
Commit message:
Update: Doesn't work fully

Changed in this revision

SwerveDrive.lib Show annotated file Show diff for this revision Revisions of this file
SwerveModule.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/SwerveDrive.lib	Fri Apr 29 07:52:34 2022 +0000
+++ b/SwerveDrive.lib	Fri Apr 29 11:12:00 2022 +0000
@@ -1,1 +1,1 @@
-https://os.mbed.com/users/andrewh33/code/SwerveDrive/#7577930aba71
+https://os.mbed.com/users/andrewh33/code/SwerveDrive/#bf7fea3a99d7

--- a/SwerveModule.lib	Fri Apr 29 07:52:34 2022 +0000
+++ b/SwerveModule.lib	Fri Apr 29 11:12:00 2022 +0000
@@ -1,1 +1,1 @@
-https://os.mbed.com/users/andrewh33/code/SwerveModule/#05a5529f9c0d
+https://os.mbed.com/users/andrewh33/code/SwerveModule/#1ae2ebcba406

--- a/main.cpp	Fri Apr 29 07:52:34 2022 +0000
+++ b/main.cpp	Fri Apr 29 11:12:00 2022 +0000
@@ -5,7 +5,7 @@
 #include "SwerveDrive.h"
 
 #define CTRL_CNT 3   // number of 4 byte packages sent over bluetooth
-#define MAX_SPEED 0.25
+#define MAX_SPEED 0.5
 
 Timer t;
 
@@ -51,6 +51,8 @@
 SwerveModule fl_module(&fl_steer, &fl_drive);
 SwerveModule fr_module(&fr_steer, &fr_drive);
 
+//DigitalOut en(p15);
+
 SwerveDrive swerve(&fl_module, &fr_module, &bl_module, &br_module);
 
 PwmOut myled1(LED1);
@@ -90,7 +92,7 @@
         curr_time = t.read_us();
         
         swerve.update(curr_time);
-        swerve.drive(controller[1], controller[0], controller[2]);
+        swerve.drive(controller[1], controller[0], controller[2], curr_time);
         
         if (esp8266.readable()) {
             char temp = esp8266.getc();
@@ -100,10 +102,12 @@
                 byte_index = 0;
                 ind = ind == 2 ? 0 : ind + 1;
             }
-            if (temp == 'a'){
+            if (temp == 'q'){
                 prev_time = t.read_us();
                 byte_index = 0;
                 ind = 0;
+            } else if (temp == 'a'){
+                swerve.begin(); // When press A, zero wheels
             } else {
                 b[byte_index] = temp;
                 byte_index++;