Dima Dudin / Mbed 2 deprecated DD_Robot

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Dependencies:   mbed mbed-STM32F103C8T6 MPU6050_1

motor.h@12:721a9ea55e91, 2018-11-03 (annotated)

Committer:
dima285
Date:
Sat Nov 03 11:43:03 2018 +0000
Revision:
12:721a9ea55e91
Parent:
10:5bdd3dfd5f59
Child:
13:789b451cc27d
rabotaet;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dima285 9:8f98b1c277a4 1 float motor_speed[2] = {0,0}; //left, right (real exact current speed of each motor for the next raltime slot) SI
dima285 12:721a9ea55e91 2 //float gy_old;
dima285 12:721a9ea55e91 3 //float vert;//ugol
dima285 9:8f98b1c277a4 4 float max_speed = 2;
dima285 12:721a9ea55e91 5 float max_accel = 5;
dima285 10:5bdd3dfd5f59 6
Stas285 0:e9488589a8ee 7 DigitalOut dir_left(PC_15);
Stas285 0:e9488589a8ee 8 DigitalOut dir_right(PA_2);
Stas285 0:e9488589a8ee 9 DigitalOut motor_enable(PA_0);//sleep inverted
dima285 8:891e4f54e9e2 10 PwmOut step_left(PB_4);
Stas285 0:e9488589a8ee 11 PwmOut step_right(PA_1);
Stas285 0:e9488589a8ee 12
dima285 12:721a9ea55e91 13 void geometric_navigation(){
dima285 10:5bdd3dfd5f59 14
dima285 12:721a9ea55e91 15 current.speed = (motor_speed[1]+motor_speed[0])/2.0; //MOVE TO SKOROST!!!!!
dima285 12:721a9ea55e91 16 current.azimuth += (motor_speed[0]-motor_speed[1]) * t_step/(half_axis * 2) ;//rad
dima285 12:721a9ea55e91 17 current.x += current.speed * t_step; //* sin(current.azimuth);
dima285 12:721a9ea55e91 18 current.y += current.speed * t_step; //* cos(current.azimuth);
dima285 12:721a9ea55e91 19 current.path += current.speed * t_step;
dima285 12:721a9ea55e91 20 //pc.printf("%3.1f - %3.1f ; %3.1f - %3.1f ; %d\n",target_path,current_path,target_angle,current_angle,motor_busy); //be careful in interrupt
dima285 12:721a9ea55e91 21 }
dima285 10:5bdd3dfd5f59 22
dima285 12:721a9ea55e91 23 void set_motor_speed(float speed_left,float speed_right){
dima285 12:721a9ea55e91 24 motor_speed[0] = speed_left;
dima285 12:721a9ea55e91 25 motor_speed[1] = speed_right;
dima285 10:5bdd3dfd5f59 26
dima285 9:8f98b1c277a4 27 if (motor_speed[0] > max_speed) motor_speed[0] = max_speed;
dima285 9:8f98b1c277a4 28 if (motor_speed[0] < -max_speed) motor_speed[0] = -max_speed;
dima285 9:8f98b1c277a4 29 if (motor_speed[1] > max_speed) motor_speed[1] = max_speed;
dima285 9:8f98b1c277a4 30 if (motor_speed[1] < -max_speed) motor_speed[1] = -max_speed;
dima285 10:5bdd3dfd5f59 31
dima285 12:721a9ea55e91 32 if (motor_speed[1] > 0) dir_right = 1;
dima285 12:721a9ea55e91 33 else dir_right = 0;
dima285 12:721a9ea55e91 34 if (motor_speed[0] > 0) dir_left = 0;
dima285 12:721a9ea55e91 35 else dir_left = 1;
dima285 9:8f98b1c277a4 36 float nu_l = abs(motor_speed[0]/(2*pi*r_wheel))*ppr; //frequency in herz
dima285 9:8f98b1c277a4 37 float nu_r = abs(motor_speed[1]/(2*pi*r_wheel))*ppr; //frequency in herz
dima285 9:8f98b1c277a4 38 if (nu_l < 1) nu_l = 1;
dima285 9:8f98b1c277a4 39 if (nu_r < 1) nu_r = 1;
dima285 10:5bdd3dfd5f59 40 step_right.period_us (1e6/nu_r);
dima285 10:5bdd3dfd5f59 41 step_right = 0.5;
dima285 10:5bdd3dfd5f59 42 step_left.period_us (1e6/nu_l);
dima285 12:721a9ea55e91 43 step_left = 0.5;
dima285 12:721a9ea55e91 44 geometric_navigation();
dima285 10:5bdd3dfd5f59 45 }
dima285 10:5bdd3dfd5f59 46
dima285 10:5bdd3dfd5f59 47 void motor_init()
dima285 10:5bdd3dfd5f59 48 {
dima285 10:5bdd3dfd5f59 49 step_left = 0.5;
dima285 10:5bdd3dfd5f59 50 step_right = 0.5;
Stas285 0:e9488589a8ee 51 motor_enable = 1;
dima285 12:721a9ea55e91 52 }
dima285 12:721a9ea55e91 53
dima285 12:721a9ea55e91 54