eljer chua / Mbed 2 deprecated Open_House_Mbed1_Actual

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Dependencies:   LidarLitev2 Sabertoothaaa mbed-rtos mbed

peixingv2.h@0:59ae1ba97a94, 2017-09-28 (annotated)

Committer:
eljerchua
Date:
Thu Sep 28 02:07:41 2017 +0000
Revision:
0:59ae1ba97a94
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
eljerchua 0:59ae1ba97a94 1 #include "Sabertooth.h"
eljerchua 0:59ae1ba97a94 2
eljerchua 0:59ae1ba97a94 3 Sabertooth front_sb(p13, 128, 9600);
eljerchua 0:59ae1ba97a94 4 Sabertooth back_sb(p13, 129, 9600);
eljerchua 0:59ae1ba97a94 5
eljerchua 0:59ae1ba97a94 6 void forward(int speed)
eljerchua 0:59ae1ba97a94 7 {
eljerchua 0:59ae1ba97a94 8 front_sb.SetSpeedMotorA(speed);
eljerchua 0:59ae1ba97a94 9 front_sb.SetSpeedMotorB(speed);
eljerchua 0:59ae1ba97a94 10 back_sb.SetSpeedMotorA(speed);
eljerchua 0:59ae1ba97a94 11 back_sb.SetSpeedMotorB(speed);
eljerchua 0:59ae1ba97a94 12 }
eljerchua 0:59ae1ba97a94 13
eljerchua 0:59ae1ba97a94 14 void backward(int speed)
eljerchua 0:59ae1ba97a94 15 {
eljerchua 0:59ae1ba97a94 16 front_sb.SetSpeedMotorA(-speed);
eljerchua 0:59ae1ba97a94 17 front_sb.SetSpeedMotorB(-speed);
eljerchua 0:59ae1ba97a94 18 back_sb.SetSpeedMotorA(-speed);
eljerchua 0:59ae1ba97a94 19 back_sb.SetSpeedMotorB(-speed);
eljerchua 0:59ae1ba97a94 20 }
eljerchua 0:59ae1ba97a94 21
eljerchua 0:59ae1ba97a94 22 void right(int speed)
eljerchua 0:59ae1ba97a94 23 {
eljerchua 0:59ae1ba97a94 24 front_sb.SetSpeedMotorA(-speed);
eljerchua 0:59ae1ba97a94 25 front_sb.SetSpeedMotorB(speed);
eljerchua 0:59ae1ba97a94 26 back_sb.SetSpeedMotorA(-speed);
eljerchua 0:59ae1ba97a94 27 back_sb.SetSpeedMotorB(speed);
eljerchua 0:59ae1ba97a94 28 }
eljerchua 0:59ae1ba97a94 29
eljerchua 0:59ae1ba97a94 30 void left(int speed)
eljerchua 0:59ae1ba97a94 31 {
eljerchua 0:59ae1ba97a94 32 front_sb.SetSpeedMotorA(speed);
eljerchua 0:59ae1ba97a94 33 front_sb.SetSpeedMotorB(-speed);
eljerchua 0:59ae1ba97a94 34 back_sb.SetSpeedMotorA(speed);
eljerchua 0:59ae1ba97a94 35 back_sb.SetSpeedMotorB(-speed);
eljerchua 0:59ae1ba97a94 36 }
eljerchua 0:59ae1ba97a94 37
eljerchua 0:59ae1ba97a94 38 void turnright(int speed)
eljerchua 0:59ae1ba97a94 39 {
eljerchua 0:59ae1ba97a94 40 front_sb.SetSpeedMotorA(-speed);
eljerchua 0:59ae1ba97a94 41 front_sb.SetSpeedMotorB(speed);
eljerchua 0:59ae1ba97a94 42 back_sb.SetSpeedMotorA(speed);
eljerchua 0:59ae1ba97a94 43 back_sb.SetSpeedMotorB(-speed);
eljerchua 0:59ae1ba97a94 44 }
eljerchua 0:59ae1ba97a94 45
eljerchua 0:59ae1ba97a94 46 void turnleft(int speed)
eljerchua 0:59ae1ba97a94 47 {
eljerchua 0:59ae1ba97a94 48 front_sb.SetSpeedMotorA(speed);
eljerchua 0:59ae1ba97a94 49 front_sb.SetSpeedMotorB(-speed);
eljerchua 0:59ae1ba97a94 50 back_sb.SetSpeedMotorA(-speed);
eljerchua 0:59ae1ba97a94 51 back_sb.SetSpeedMotorB(speed);
eljerchua 0:59ae1ba97a94 52 }
eljerchua 0:59ae1ba97a94 53
eljerchua 0:59ae1ba97a94 54 void stop()
eljerchua 0:59ae1ba97a94 55 {
eljerchua 0:59ae1ba97a94 56 front_sb.SetSpeedMotorA(0);
eljerchua 0:59ae1ba97a94 57 front_sb.SetSpeedMotorB(0);
eljerchua 0:59ae1ba97a94 58 back_sb.SetSpeedMotorA(0);
eljerchua 0:59ae1ba97a94 59 back_sb.SetSpeedMotorB(0);
eljerchua 0:59ae1ba97a94 60 }