David Pasztor / Mbed 2 deprecated Motor_control

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Dependencies:   mbed-rtos mbed

commands.h@49:731c95cd5852, 2017-03-24 (annotated)

Committer:
NKarandey
Date:
Fri Mar 24 16:57:35 2017 +0000
Revision:
49:731c95cd5852
Child:
51:bab6e5eb864a
Convert the project into a modular structure

Who changed what in which revision?

UserRevisionLine numberNew contents of line
NKarandey 49:731c95cd5852 1 #include <vector>
NKarandey 49:731c95cd5852 2
NKarandey 49:731c95cd5852 3 #include "mbed.h"
NKarandey 49:731c95cd5852 4 #include "controlLoops.h"
NKarandey 49:731c95cd5852 5
NKarandey 49:731c95cd5852 6 Ticker lifeTicker;
NKarandey 49:731c95cd5852 7
NKarandey 49:731c95cd5852 8 volatile bool commandFinished = false;
NKarandey 49:731c95cd5852 9 void stopCommand() {
NKarandey 49:731c95cd5852 10 commandFinished = true;
NKarandey 49:731c95cd5852 11 lifeTicker.detach();
NKarandey 49:731c95cd5852 12 controlTicker.detach();
NKarandey 49:731c95cd5852 13 }
NKarandey 49:731c95cd5852 14
NKarandey 49:731c95cd5852 15 void rotateWith(float r, float v) {
NKarandey 49:731c95cd5852 16
NKarandey 49:731c95cd5852 17 }
NKarandey 49:731c95cd5852 18
NKarandey 49:731c95cd5852 19 void setVelocity(float v) {
NKarandey 49:731c95cd5852 20 // targetV = v;
NKarandey 49:731c95cd5852 21 // goalRevs = 900.0f;
NKarandey 49:731c95cd5852 22 // print("Spinning with V=%.2f\n\r", targetV);
NKarandey 49:731c95cd5852 23
NKarandey 49:731c95cd5852 24 lifeTicker.attach(&stopCommand, 10);
NKarandey 49:731c95cd5852 25 }
NKarandey 49:731c95cd5852 26
NKarandey 49:731c95cd5852 27 void playTune(float freq) {
NKarandey 49:731c95cd5852 28 motorPWMPeriod = 1.0f / freq;
NKarandey 49:731c95cd5852 29 // motorOut(0, 0.5);
NKarandey 49:731c95cd5852 30 Thread::wait(1000);
NKarandey 49:731c95cd5852 31 }
NKarandey 49:731c95cd5852 32
NKarandey 49:731c95cd5852 33 void playTunes(const vector<float>& tunes) {
NKarandey 49:731c95cd5852 34 for (int i=0; i<tunes.size(); ++i) {
NKarandey 49:731c95cd5852 35 playTune(tunes[i]);
NKarandey 49:731c95cd5852 36 }
NKarandey 49:731c95cd5852 37 // motorPWMPeriod = defaultMotorPWMPeriod;
NKarandey 49:731c95cd5852 38 stopMotor();
NKarandey 49:731c95cd5852 39 }