Dima Dudin / Mbed 2 deprecated DD_Robot

svoe

Dependencies:   mbed mbed-STM32F103C8T6 MPU6050_1

motion.h@15:960b922433d1, 2018-12-01 (annotated)

Committer:
Stas285
Date:
Sat Dec 01 14:25:04 2018 +0000
Revision:
15:960b922433d1
Parent:
12:721a9ea55e91
Child:
17:bd6b6ac89e0e
coord_ready

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Stas285 6:6e89cdc3db92 1 //3 main parameters of the movement:
Stas285 6:6e89cdc3db92 2 //float accel (defined in motor.h)
dima285 9:8f98b1c277a4 3 float speed = 1;//cm/s
Stas285 15:960b922433d1 4 float radius = 100;
Stas285 6:6e89cdc3db92 5
Stas285 1:e2a6e523bf1f 6 bool infinite_flag = 0;
Stas285 0:e9488589a8ee 7
Stas285 15:960b922433d1 8 void go(float distance_m, bool brake = 1){
Stas285 15:960b922433d1 9 target.path = current.path + distance_m;
Stas285 15:960b922433d1 10 // wifi.printf("%.2f %.2f %.2f %.2f;",target_path,current_path,distance_m,current_speed);
Stas285 15:960b922433d1 11 // while(abs(target.path - current.path) > 0.01){
Stas285 15:960b922433d1 12 // gyro_process();
Stas285 15:960b922433d1 13 // wifi.printf("%.2f %.2f %.2f %.2f;",target_path,current_path,target_path,current_speed);}
Stas285 0:e9488589a8ee 14 }
Stas285 15:960b922433d1 15 /*
dima285 8:891e4f54e9e2 16 void go_no_wait(int cm, bool brake = 1){
dima285 8:891e4f54e9e2 17 if(cm != 0) {
dima285 8:891e4f54e9e2 18 stop_flag = 0; infinite_flag = 0;
dima285 8:891e4f54e9e2 19 motor_enable = 1;
dima285 8:891e4f54e9e2 20 target_path =old_path + cm; old_path = target_path;
dima285 8:891e4f54e9e2 21 if(cm > 0) path_dir = 1; else path_dir = 0;
dima285 8:891e4f54e9e2 22 angle_task = 0;
dima285 8:891e4f54e9e2 23 motor_busy = 1;
dima285 8:891e4f54e9e2 24 //while(motor_busy == 1){proc_counter++;}
dima285 8:891e4f54e9e2 25 }
dima285 8:891e4f54e9e2 26 }
Stas285 0:e9488589a8ee 27
Stas285 0:e9488589a8ee 28 void turn(int deg, bool brake = 1){
Stas285 0:e9488589a8ee 29 if(deg != 0) {
Stas285 1:e2a6e523bf1f 30 stop_flag = 0; infinite_flag = 0;
Stas285 0:e9488589a8ee 31 motor_enable = 1;
Stas285 0:e9488589a8ee 32 target_angle = old_angle + deg; old_angle = target_angle;
Stas285 0:e9488589a8ee 33 if(deg > 0) angle_dir = 1; else angle_dir = 0;
Stas285 0:e9488589a8ee 34 angle_task = 1;
Stas285 0:e9488589a8ee 35 motor_busy = 1;
Stas285 0:e9488589a8ee 36 while(motor_busy == 1){proc_counter++;}
Stas285 0:e9488589a8ee 37 old_path = current_path;
Stas285 0:e9488589a8ee 38 }
Stas285 0:e9488589a8ee 39 }
Stas285 0:e9488589a8ee 40
Stas285 0:e9488589a8ee 41 void stop(){
Stas285 0:e9488589a8ee 42 motor_enable = 1;
Stas285 0:e9488589a8ee 43 stop_flag = 1;
Stas285 0:e9488589a8ee 44 motor_busy = 1;
Stas285 0:e9488589a8ee 45 while(motor_busy == 1){}
Stas285 6:6e89cdc3db92 46 target_path = current_path;
Stas285 4:904b737ef08a 47 //motor_enable = 0;
Stas285 0:e9488589a8ee 48 }
Stas285 0:e9488589a8ee 49
Stas285 0:e9488589a8ee 50 void dance(float dance_speed,float dance_accel){
Stas285 0:e9488589a8ee 51 speed = dance_speed;
Stas285 0:e9488589a8ee 52 accel=dance_accel;
Stas285 0:e9488589a8ee 53 radius=20;
Stas285 0:e9488589a8ee 54
Stas285 0:e9488589a8ee 55 go(25);
Stas285 0:e9488589a8ee 56 go(-50);
Stas285 0:e9488589a8ee 57 go(25);
Stas285 0:e9488589a8ee 58 turn(90);
Stas285 0:e9488589a8ee 59 speed = -dance_speed;
Stas285 0:e9488589a8ee 60 turn(-180);
Stas285 0:e9488589a8ee 61 speed = dance_speed;
Stas285 0:e9488589a8ee 62 turn(90);
Stas285 0:e9488589a8ee 63 turn(-360);
Stas285 0:e9488589a8ee 64 turn(360);
Stas285 0:e9488589a8ee 65
Stas285 0:e9488589a8ee 66 go(20);
Stas285 0:e9488589a8ee 67 speed = -dance_speed;
Stas285 0:e9488589a8ee 68 turn(-90);
Stas285 0:e9488589a8ee 69 speed = dance_speed;
Stas285 0:e9488589a8ee 70 turn(-90);
Stas285 0:e9488589a8ee 71 speed = -dance_speed;
Stas285 0:e9488589a8ee 72 turn(-90);
Stas285 0:e9488589a8ee 73 speed = dance_speed;
Stas285 0:e9488589a8ee 74 turn(-90);
Stas285 0:e9488589a8ee 75 go(-20);
Stas285 0:e9488589a8ee 76
Stas285 0:e9488589a8ee 77 radius =0;
Stas285 0:e9488589a8ee 78 turn(720);
Stas285 0:e9488589a8ee 79 turn(-720);
dima285 10:5bdd3dfd5f59 80 }
dima285 12:721a9ea55e91 81 */
dima285 10:5bdd3dfd5f59 82