Alexander Schwartz / Mbed 2 deprecated 4180_final_project_robot_motors

Code for mbed on robot that polls DigitalIn pins to control robot movement via 2 DC motors

Dependencies:   mbed Motor

Files at this revision

API Documentation at this revision

Revision 0:1dadb580b75f, committed 2019-12-06

Comitter:
aschwartz44
Date:
Fri Dec 06 04:17:08 2019 +0000
Commit message:
Publish repo

Changed in this revision

Motor.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
mbed.bld Show annotated file Show diff for this revision Revisions of this file 
diff -r 000000000000 -r 1dadb580b75f Motor.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Motor.lib	Fri Dec 06 04:17:08 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/simon/code/Motor/#f265e441bcd9

diff -r 000000000000 -r 1dadb580b75f main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Dec 06 04:17:08 2019 +0000
@@ -0,0 +1,97 @@
+#include "mbed.h"
+#include "Motor.h"
+
+Motor leftWheel(p23, p16, p15); //pwm, fwd(Digital), rev(Digital)
+Motor rightWheel(p24, p18, p17); //pwm, fwd(Digital), rev(Digital)
+DigitalIn fwd(p5);
+DigitalIn rev(p6);
+DigitalIn turnL(p7);
+DigitalIn turnR(p8);
+
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+
+
+void moveForward(float time)
+{
+    leftWheel.speed(0.6);
+    rightWheel.speed(0.6);
+    wait(time);
+    leftWheel.speed(0.0);
+    rightWheel.speed(0.0);
+}
+
+void moveBackward(float time)
+{
+    leftWheel.speed(-0.6);
+    rightWheel.speed(-0.6);
+    wait(time);
+    leftWheel.speed(0.0);
+    rightWheel.speed(0.0);
+}
+
+void turnLeft(float time)
+{
+    leftWheel.speed(-0.6);
+    rightWheel.speed(0.6);
+    wait(time);
+    leftWheel.speed(0.0);
+    rightWheel.speed(0.0);
+}
+
+void turnRight(float time)
+{
+    leftWheel.speed(0.6);
+    rightWheel.speed(-0.6);
+    wait(time);
+    leftWheel.speed(0.0);
+    rightWheel.speed(0.0);
+}
+
+int main()
+{
+    led1 = 0;
+    led2 = 0;
+    led3 = 0;
+    led4 = 0;
+    leftWheel.speed(0.0);
+    rightWheel.speed(0.0);
+    
+    while (1)
+    {
+        if (fwd)
+        {
+            led2 = 1;
+            led3 = 1;
+            moveForward(0.2);
+            led2 = 0;
+            led3 = 0;
+        }
+        if (rev)
+        {
+            led1 = 1;
+            led4 = 1;
+            moveBackward(0.2);
+            led1 = 0;
+            led4 = 0;
+        }
+        if (turnL)
+        {
+            led1 = 1;
+            led2 = 1;
+            turnLeft(0.2);
+            led1 = 0;
+            led2 = 0;
+        }
+        if (turnR)
+        {
+            led3 = 1;
+            led4 = 1;
+            turnRight(0.2);
+            led3 = 0;
+            led4 = 0;
+        }
+    }
+}

diff -r 000000000000 -r 1dadb580b75f mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Fri Dec 06 04:17:08 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file