eljer chua / Mbed 2 deprecated Open_House_Mbed1_Actual

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Dependencies:   LidarLitev2 Sabertoothaaa mbed-rtos mbed

peixingv2.h

Committer:
eljerchua
Date:
2017-09-28
Revision:
0:59ae1ba97a94

File content as of revision 0:59ae1ba97a94:

#include "Sabertooth.h"

Sabertooth front_sb(p13, 128, 9600);
Sabertooth back_sb(p13, 129, 9600);

void forward(int speed)
{
    front_sb.SetSpeedMotorA(speed);
    front_sb.SetSpeedMotorB(speed);
    back_sb.SetSpeedMotorA(speed);
    back_sb.SetSpeedMotorB(speed);
}

void backward(int speed)
{
    front_sb.SetSpeedMotorA(-speed);
    front_sb.SetSpeedMotorB(-speed);
    back_sb.SetSpeedMotorA(-speed);
    back_sb.SetSpeedMotorB(-speed);
}

void right(int speed)
{
    front_sb.SetSpeedMotorA(-speed);
    front_sb.SetSpeedMotorB(speed);
    back_sb.SetSpeedMotorA(-speed);    
    back_sb.SetSpeedMotorB(speed);
}

void left(int speed)
{
    front_sb.SetSpeedMotorA(speed);
    front_sb.SetSpeedMotorB(-speed);
    back_sb.SetSpeedMotorA(speed);
    back_sb.SetSpeedMotorB(-speed);
}

void turnright(int speed)
{
    front_sb.SetSpeedMotorA(-speed);
    front_sb.SetSpeedMotorB(speed);
    back_sb.SetSpeedMotorA(speed);
    back_sb.SetSpeedMotorB(-speed);
}

void turnleft(int speed)
{
    front_sb.SetSpeedMotorA(speed);
    front_sb.SetSpeedMotorB(-speed);
    back_sb.SetSpeedMotorA(-speed);
    back_sb.SetSpeedMotorB(speed);
}

void stop()
{
    front_sb.SetSpeedMotorA(0);
    front_sb.SetSpeedMotorB(0);
    back_sb.SetSpeedMotorA(0);
    back_sb.SetSpeedMotorB(0);
}