Robson Cardoso dos Santos / Sophia

Sophia, an autonomous robot based on Tamiya kits

Sophia.cpp@0:db79273ace80, 2013-05-09 (annotated)

Committer:
cylax
Date:
Thu May 09 02:45:44 2013 +0000
Revision:
0:db79273ace80
Initial commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cylax 0:db79273ace80 1 #include "mbed.h"
cylax 0:db79273ace80 2 #include "Motor.h"
cylax 0:db79273ace80 3 #include "Sophia.h"
cylax 0:db79273ace80 4
cylax 0:db79273ace80 5 Motor motor_right(PTD4, PTC13, PTC12); // pwm, fwd, rev
cylax 0:db79273ace80 6 Motor motor_left(PTD4, PTA13, PTD5);
cylax 0:db79273ace80 7
cylax 0:db79273ace80 8 void Sophia::move(float speed, int direction) {
cylax 0:db79273ace80 9 if(direction) {
cylax 0:db79273ace80 10 motor_right.speed(speed);
cylax 0:db79273ace80 11 motor_left.speed(speed);
cylax 0:db79273ace80 12 }
cylax 0:db79273ace80 13 else {
cylax 0:db79273ace80 14 motor_right.speed(-speed);
cylax 0:db79273ace80 15 motor_left.speed(-speed);
cylax 0:db79273ace80 16 }
cylax 0:db79273ace80 17 }
cylax 0:db79273ace80 18
cylax 0:db79273ace80 19 void Sophia::turn(float speed, int direction) {
cylax 0:db79273ace80 20 if(direction) {
cylax 0:db79273ace80 21 motor_right.speed(0.0);
cylax 0:db79273ace80 22 motor_left.speed(speed);
cylax 0:db79273ace80 23 }
cylax 0:db79273ace80 24 else {
cylax 0:db79273ace80 25 motor_right.speed(speed);
cylax 0:db79273ace80 26 motor_left.speed(0.0);
cylax 0:db79273ace80 27 }
cylax 0:db79273ace80 28 }
cylax 0:db79273ace80 29 void Sophia::spin(float speed, int direction) {
cylax 0:db79273ace80 30 if(direction) {
cylax 0:db79273ace80 31 motor_right.speed(-speed);
cylax 0:db79273ace80 32 motor_left.speed(speed);
cylax 0:db79273ace80 33 }
cylax 0:db79273ace80 34 else {
cylax 0:db79273ace80 35 motor_right.speed(speed);
cylax 0:db79273ace80 36 motor_left.speed(-speed);
cylax 0:db79273ace80 37 }
cylax 0:db79273ace80 38 }