stilldk
Dependencies: vl53l0x_api SRF05
Simplifier/Shape.cpp@0:041c1089b6e5, 2022-03-10 (annotated)
- Committer:
- dnikolz
- Date:
- Thu Mar 10 08:40:14 2022 +0000
- Revision:
- 0:041c1089b6e5
idk
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
dnikolz | 0:041c1089b6e5 | 1 | #define Pin1 PB_0 |
dnikolz | 0:041c1089b6e5 | 2 | #define Pin2 PB_0 |
dnikolz | 0:041c1089b6e5 | 3 | #define Pin_GPIO PB_0 |
dnikolz | 0:041c1089b6e5 | 4 | //DigitalOut myled(LED1); |
dnikolz | 0:041c1089b6e5 | 5 | #include "mbed.h" |
dnikolz | 0:041c1089b6e5 | 6 | #include "Shape.h" |
dnikolz | 0:041c1089b6e5 | 7 | |
dnikolz | 0:041c1089b6e5 | 8 | PwmOut Drive_pin_A2(PA_8); //steering servo PWM output pin D7 |
dnikolz | 0:041c1089b6e5 | 9 | PwmOut Drive_pin_B2(PA_9); //Not Used |
dnikolz | 0:041c1089b6e5 | 10 | PwmOut Drive_pin_C2(PB_10); //Motor drive PWM output pin D6 |
dnikolz | 0:041c1089b6e5 | 11 | PwmOut Drive_pin_D2(PB_4); //Motor drive PWM output pin D5 |
dnikolz | 0:041c1089b6e5 | 12 | |
dnikolz | 0:041c1089b6e5 | 13 | int Turn_right3=2; |
dnikolz | 0:041c1089b6e5 | 14 | int Turn_left3=0; |
dnikolz | 0:041c1089b6e5 | 15 | int Speed13=10; //Half power |
dnikolz | 0:041c1089b6e5 | 16 | int Speed23=20; //Full power |
dnikolz | 0:041c1089b6e5 | 17 | int PW_Period3=20; |
dnikolz | 0:041c1089b6e5 | 18 | |
dnikolz | 0:041c1089b6e5 | 19 | void Shape::oval(){ |
dnikolz | 0:041c1089b6e5 | 20 | Turn_left3 = 1775; // half turn left - end point |
dnikolz | 0:041c1089b6e5 | 21 | Turn_left3 = 1770; |
dnikolz | 0:041c1089b6e5 | 22 | wait_us(1); |
dnikolz | 0:041c1089b6e5 | 23 | Drive_pin_A2.pulsewidth_us(Turn_left3); |
dnikolz | 0:041c1089b6e5 | 24 | Turn_left3 = 1775; |
dnikolz | 0:041c1089b6e5 | 25 | wait_us(1); |
dnikolz | 0:041c1089b6e5 | 26 | Turn_left3 = 1625; |
dnikolz | 0:041c1089b6e5 | 27 | Drive_pin_A2.pulsewidth_us(Turn_left3); |
dnikolz | 0:041c1089b6e5 | 28 | Turn_left3 = 1770; |
dnikolz | 0:041c1089b6e5 | 29 | wait_us(1); |
dnikolz | 0:041c1089b6e5 | 30 | Drive_pin_A2.pulsewidth_us(Turn_left3); |
dnikolz | 0:041c1089b6e5 | 31 | Turn_left3 = 1775; |
dnikolz | 0:041c1089b6e5 | 32 | wait_us(1); |
dnikolz | 0:041c1089b6e5 | 33 | Turn_left3 = 1625; |
dnikolz | 0:041c1089b6e5 | 34 | Drive_pin_A2.pulsewidth_us(Turn_left3); |
dnikolz | 0:041c1089b6e5 | 35 | Turn_left3 = 1770; |
dnikolz | 0:041c1089b6e5 | 36 | wait_us(1); |
dnikolz | 0:041c1089b6e5 | 37 | Drive_pin_A2.pulsewidth_us(Turn_left3); |
dnikolz | 0:041c1089b6e5 | 38 | } |