Shape.cpp

00001 #define Pin1 PB_0  
00002 #define Pin2 PB_0  
00003 #define Pin_GPIO PB_0  
00004 //DigitalOut myled(LED1);
00005 #include "mbed.h"
00006 #include "Shape.h"
00007 
00008 PwmOut Drive_pin_A2(PA_8);  //steering servo PWM output pin D7
00009 PwmOut Drive_pin_B2(PA_9);  //Not Used
00010 PwmOut Drive_pin_C2(PB_10); //Motor drive PWM output pin D6
00011 PwmOut Drive_pin_D2(PB_4);  //Motor drive PWM output pin D5    
00012 
00013 int Turn_right3=2;
00014 int Turn_left3=0;
00015 int Speed13=10;              //Half power
00016 int Speed23=20;              //Full power
00017 int PW_Period3=20; 
00018 
00019  void Shape::oval(){
00020     Turn_left3 = 1775; // half turn left - end point
00021     Turn_left3 = 1770;
00022     wait_us(1);
00023     Drive_pin_A2.pulsewidth_us(Turn_left3); 
00024     Turn_left3 = 1775; 
00025     wait_us(1);
00026     Turn_left3 = 1625;
00027     Drive_pin_A2.pulsewidth_us(Turn_left3); 
00028     Turn_left3 = 1770;
00029     wait_us(1);
00030     Drive_pin_A2.pulsewidth_us(Turn_left3);  
00031     Turn_left3 = 1775; 
00032     wait_us(1);
00033     Turn_left3 = 1625;
00034     Drive_pin_A2.pulsewidth_us(Turn_left3); 
00035     Turn_left3 = 1770;
00036     wait_us(1);
00037     Drive_pin_A2.pulsewidth_us(Turn_left3);
00038 }