Revision 0:8a7754ecb574, committed 2018-05-16

Comitter:

ckalintra

Date:

Wed May 16 10:28:22 2018 +0000

Commit message:

Motor

Changed in this revision

diff -r 000000000000 -r 8a7754ecb574 motor.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/motor.cpp	Wed May 16 10:28:22 2018 +0000
@@ -0,0 +1,79 @@
+#include "motor.h"
+#include "mbed.h"
+#define control_speed 1
+
+
+void MOTOR::stop() {//stop the motors
+     dir1 = 0;
+     dir2 = 0;
+     dir3 = 0;
+     dir4 = 0;
+     pwm1.write(0);
+     pwm2.write(0);
+}
+
+void MOTOR::balance(float speed) {//for balancing the robot
+    stop();//stop the motor
+    if (speed<0)//if speed is - go backward  
+    {
+     dir1 = 1;
+     dir2 = 0;
+     dir3 = 0;
+     dir4 = 1;
+     float temp = abs(speed);//use PID output to detrmine the speed
+     pwm1.write(temp);
+     pwm2.write(temp);
+     }
+    else if (speed>0)//if speed is + go forward
+    {
+     dir1 = 0;
+     dir2 = 1;
+     dir3 = 1;
+     dir4 = 0;
+     float temp = abs(speed);
+     pwm1.write(temp);
+     pwm2.write(temp);
+     } 
+}
+
+void MOTOR::forward() {//go forward 
+     stop(); 
+     dir1 = 0;
+     dir2 = 1;
+     dir3 = 1;
+     dir4 = 0;
+     pwm1.write(control_speed);
+     pwm2.write(control_speed);
+}
+     
+void MOTOR::backward() {//go backward  
+     stop(); 
+     dir1 = 1;
+     dir2 = 0;
+     dir3 = 0;
+     dir4 = 1;
+     pwm1.write(control_speed);
+     pwm2.write(control_speed);
+}
+
+void MOTOR::left() {//turn left    
+     dir1 = 1;
+     dir2 = 0;
+     dir3 = 1;
+     dir4 = 0;
+     pwm1.write(control_speed);
+     pwm2.write(control_speed);
+}
+
+void MOTOR::right() {//turn right   
+     dir1 = 0;
+     dir2 = 1;
+     dir3 = 0;
+     dir4 = 1;
+     pwm1.write(control_speed);
+     pwm2.write(control_speed);
+}
+
+
+    
+

diff -r 000000000000 -r 8a7754ecb574 motor.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/motor.h	Wed May 16 10:28:22 2018 +0000
@@ -0,0 +1,22 @@
+#ifndef MOTOR_H
+#define MOTOR_H
+
+#include "mbed.h"
+
+extern DigitalOut dir1, dir2, dir3, dir4;
+extern PwmOut pwm1, pwm2;
+extern Serial pc;
+class MOTOR {
+public:
+    void balance(float speed);//counter the falling of the robot
+    void forward();//go forward
+    void backward();//go backward
+    void left();//turn left
+    void right();//turn right
+    void stop();//stop the motors
+protected:
+    
+
+};
+
+#endif