VNG bot battle
Dependencies: BLE_API mbed nRF51822
MotorController.cpp@0:122d7bf3bbf0, 2016-09-05 (annotated)
- Committer:
- bintech91
- Date:
- Mon Sep 05 19:55:23 2016 +0000
- Revision:
- 0:122d7bf3bbf0
update
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
bintech91 | 0:122d7bf3bbf0 | 1 | /* |
bintech91 | 0:122d7bf3bbf0 | 2 | * MotorController.cpp |
bintech91 | 0:122d7bf3bbf0 | 3 | * |
bintech91 | 0:122d7bf3bbf0 | 4 | * Created on: Aug 23, 2016 |
bintech91 | 0:122d7bf3bbf0 | 5 | * Author: tanpt |
bintech91 | 0:122d7bf3bbf0 | 6 | */ |
bintech91 | 0:122d7bf3bbf0 | 7 | |
bintech91 | 0:122d7bf3bbf0 | 8 | #include "MotorController.h" |
bintech91 | 0:122d7bf3bbf0 | 9 | |
bintech91 | 0:122d7bf3bbf0 | 10 | DigitalOut MotorController::motorLeftDirection_(p25); |
bintech91 | 0:122d7bf3bbf0 | 11 | PwmOut MotorController::motorLeftSpeed_(p23); |
bintech91 | 0:122d7bf3bbf0 | 12 | DigitalOut MotorController::motorRightDirection_(p28); |
bintech91 | 0:122d7bf3bbf0 | 13 | PwmOut MotorController::motorRightSpeed_(p24); |
bintech91 | 0:122d7bf3bbf0 | 14 | |
bintech91 | 0:122d7bf3bbf0 | 15 | DigitalOut MotorController::motorBoostSpeed_(p20); |
bintech91 | 0:122d7bf3bbf0 | 16 | |
bintech91 | 0:122d7bf3bbf0 | 17 | MotorController::MotorController() { |
bintech91 | 0:122d7bf3bbf0 | 18 | motorRightDirection_ = DIRECTION_FORWARD; |
bintech91 | 0:122d7bf3bbf0 | 19 | motorRightSpeed_.period_ms(1000); |
bintech91 | 0:122d7bf3bbf0 | 20 | motorLeftDirection_ = DIRECTION_FORWARD; |
bintech91 | 0:122d7bf3bbf0 | 21 | motorLeftSpeed_.period_ms(1000); |
bintech91 | 0:122d7bf3bbf0 | 22 | } |
bintech91 | 0:122d7bf3bbf0 | 23 | |
bintech91 | 0:122d7bf3bbf0 | 24 | MotorController::~MotorController() { |
bintech91 | 0:122d7bf3bbf0 | 25 | |
bintech91 | 0:122d7bf3bbf0 | 26 | } |
bintech91 | 0:122d7bf3bbf0 | 27 | |
bintech91 | 0:122d7bf3bbf0 | 28 | int8_t MotorController::setMotorRight(Direction direction, uint16_t speed) { |
bintech91 | 0:122d7bf3bbf0 | 29 | motorRightDirection_ = direction; |
bintech91 | 0:122d7bf3bbf0 | 30 | motorRightSpeed_.pulsewidth_ms(speed); |
bintech91 | 0:122d7bf3bbf0 | 31 | return 0; |
bintech91 | 0:122d7bf3bbf0 | 32 | } |
bintech91 | 0:122d7bf3bbf0 | 33 | |
bintech91 | 0:122d7bf3bbf0 | 34 | int8_t MotorController::setMotorLeft(Direction direction, uint16_t speed) { |
bintech91 | 0:122d7bf3bbf0 | 35 | motorLeftDirection_ = direction; |
bintech91 | 0:122d7bf3bbf0 | 36 | motorLeftSpeed_.pulsewidth_ms(speed); |
bintech91 | 0:122d7bf3bbf0 | 37 | return 0; |
bintech91 | 0:122d7bf3bbf0 | 38 | } |
bintech91 | 0:122d7bf3bbf0 | 39 | |
bintech91 | 0:122d7bf3bbf0 | 40 | int8_t MotorController::moveForward(uint16_t speed) { |
bintech91 | 0:122d7bf3bbf0 | 41 | motorRightDirection_ = DIRECTION_FORWARD; |
bintech91 | 0:122d7bf3bbf0 | 42 | motorRightSpeed_.pulsewidth_ms(speed); |
bintech91 | 0:122d7bf3bbf0 | 43 | motorLeftDirection_ = DIRECTION_FORWARD; |
bintech91 | 0:122d7bf3bbf0 | 44 | motorLeftSpeed_.pulsewidth_ms(speed); |
bintech91 | 0:122d7bf3bbf0 | 45 | return 0; |
bintech91 | 0:122d7bf3bbf0 | 46 | } |
bintech91 | 0:122d7bf3bbf0 | 47 | |
bintech91 | 0:122d7bf3bbf0 | 48 | int8_t MotorController::moveBackward(uint16_t speed) { |
bintech91 | 0:122d7bf3bbf0 | 49 | motorRightDirection_ = DIRECTION_BACKWARD; |
bintech91 | 0:122d7bf3bbf0 | 50 | motorRightSpeed_.pulsewidth_ms(speed); |
bintech91 | 0:122d7bf3bbf0 | 51 | motorLeftDirection_ = DIRECTION_BACKWARD; |
bintech91 | 0:122d7bf3bbf0 | 52 | motorLeftSpeed_.pulsewidth_ms(speed); |
bintech91 | 0:122d7bf3bbf0 | 53 | return 0; |
bintech91 | 0:122d7bf3bbf0 | 54 | } |
bintech91 | 0:122d7bf3bbf0 | 55 | |
bintech91 | 0:122d7bf3bbf0 | 56 | int8_t MotorController::turnRight(uint16_t speed) { |
bintech91 | 0:122d7bf3bbf0 | 57 | motorRightDirection_ = DIRECTION_BACKWARD; |
bintech91 | 0:122d7bf3bbf0 | 58 | motorRightSpeed_.pulsewidth_ms(speed); |
bintech91 | 0:122d7bf3bbf0 | 59 | motorLeftDirection_ = DIRECTION_FORWARD; |
bintech91 | 0:122d7bf3bbf0 | 60 | motorLeftSpeed_.pulsewidth_ms(speed); |
bintech91 | 0:122d7bf3bbf0 | 61 | return 0; |
bintech91 | 0:122d7bf3bbf0 | 62 | } |
bintech91 | 0:122d7bf3bbf0 | 63 | |
bintech91 | 0:122d7bf3bbf0 | 64 | int8_t MotorController::turnLeft(uint16_t speed) { |
bintech91 | 0:122d7bf3bbf0 | 65 | motorRightDirection_ = DIRECTION_FORWARD; |
bintech91 | 0:122d7bf3bbf0 | 66 | motorRightSpeed_.pulsewidth_ms(speed); |
bintech91 | 0:122d7bf3bbf0 | 67 | motorLeftDirection_ = DIRECTION_BACKWARD; |
bintech91 | 0:122d7bf3bbf0 | 68 | motorLeftSpeed_.pulsewidth_ms(speed); |
bintech91 | 0:122d7bf3bbf0 | 69 | return 0; |
bintech91 | 0:122d7bf3bbf0 | 70 | } |
bintech91 | 0:122d7bf3bbf0 | 71 | |
bintech91 | 0:122d7bf3bbf0 | 72 | int8_t MotorController::moveBackRight(uint16_t speed) { |
bintech91 | 0:122d7bf3bbf0 | 73 | motorRightDirection_ = DIRECTION_BACKWARD; |
bintech91 | 0:122d7bf3bbf0 | 74 | motorRightSpeed_.pulsewidth_ms(speed); |
bintech91 | 0:122d7bf3bbf0 | 75 | motorLeftDirection_ = DIRECTION_BACKWARD; |
bintech91 | 0:122d7bf3bbf0 | 76 | motorLeftSpeed_.pulsewidth_ms(speed / 3); |
bintech91 | 0:122d7bf3bbf0 | 77 | return 0; |
bintech91 | 0:122d7bf3bbf0 | 78 | |
bintech91 | 0:122d7bf3bbf0 | 79 | } |
bintech91 | 0:122d7bf3bbf0 | 80 | |
bintech91 | 0:122d7bf3bbf0 | 81 | int8_t MotorController::moveBackLeft(uint16_t speed) { |
bintech91 | 0:122d7bf3bbf0 | 82 | motorRightDirection_ = DIRECTION_BACKWARD; |
bintech91 | 0:122d7bf3bbf0 | 83 | motorRightSpeed_.pulsewidth_ms(speed / 3); |
bintech91 | 0:122d7bf3bbf0 | 84 | motorLeftDirection_ = DIRECTION_BACKWARD; |
bintech91 | 0:122d7bf3bbf0 | 85 | motorLeftSpeed_.pulsewidth_ms(speed); |
bintech91 | 0:122d7bf3bbf0 | 86 | return 0; |
bintech91 | 0:122d7bf3bbf0 | 87 | } |
bintech91 | 0:122d7bf3bbf0 | 88 | |
bintech91 | 0:122d7bf3bbf0 | 89 | int8_t MotorController::setBoost(BoostState state) { |
bintech91 | 0:122d7bf3bbf0 | 90 | motorBoostSpeed_ = state; |
bintech91 | 0:122d7bf3bbf0 | 91 | } |
bintech91 | 0:122d7bf3bbf0 | 92 |