Ganesh Subramaniam / Mbed 2 deprecated Project

Mine, not yours justin

Dependencies:   HMC6352 USBHost mbed-rtos mbed

Fork of Project by Justin Eng

RobotControl.h@0:b6fd1c37944a, 2014-04-11 (annotated)

Committer:
Strikewolf
Date:
Fri Apr 11 17:40:07 2014 +0000
Revision:
0:b6fd1c37944a
Child:
1:41cee26b35cc
Intial Commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Strikewolf 0:b6fd1c37944a 1 //*******************************************
Strikewolf 0:b6fd1c37944a 2 //* Robot motor control and drive functions *
Strikewolf 0:b6fd1c37944a 3 //*******************************************
Strikewolf 0:b6fd1c37944a 4
Strikewolf 0:b6fd1c37944a 5 #include "HMC6352.h"
Strikewolf 0:b6fd1c37944a 6
Strikewolf 0:b6fd1c37944a 7 //Gyro
Strikewolf 0:b6fd1c37944a 8 HMC6532 compass(p28, p27);
Strikewolf 0:b6fd1c37944a 9
Strikewolf 0:b6fd1c37944a 10 //H-bridge
Strikewolf 0:b6fd1c37944a 11 PwmOut rightMotorPWM(p21); //Channel A
Strikewolf 0:b6fd1c37944a 12 PwmOut leftMotorPWM(p22); //Channel B
Strikewolf 0:b6fd1c37944a 13 DigitalOut leftMotor1(p23);
Strikewolf 0:b6fd1c37944a 14 DigitalOut leftMotor2(p24);
Strikewolf 0:b6fd1c37944a 15 DigitalOut rightMotor1(p25);
Strikewolf 0:b6fd1c37944a 16 DigitalOut rightMotor2(p26);
Strikewolf 0:b6fd1c37944a 17
Strikewolf 0:b6fd1c37944a 18 //Non-feedback corrected 'dumb' driving
Strikewolf 0:b6fd1c37944a 19 void setDriveStraight(float speed, bool reverse) {
Strikewolf 0:b6fd1c37944a 20 //Set speed
Strikewolf 0:b6fd1c37944a 21 rightMotorPWM = speed;
Strikewolf 0:b6fd1c37944a 22 leftMotorPWM = speed;
Strikewolf 0:b6fd1c37944a 23
Strikewolf 0:b6fd1c37944a 24 //Set motor function
Strikewolf 0:b6fd1c37944a 25 leftMotor1 = (!reverse) ? 0 : 1;
Strikewolf 0:b6fd1c37944a 26 leftMotor2 = (!reverse) ? 1 : 0;
Strikewolf 0:b6fd1c37944a 27 rightMotor1 = (!reverse) ? 0 : 1;
Strikewolf 0:b6fd1c37944a 28 rightMotor2 = (!reverse) ? 1 : 0;
Strikewolf 0:b6fd1c37944a 29 }
Strikewolf 0:b6fd1c37944a 30
Strikewolf 0:b6fd1c37944a 31 //Stop with braking
Strikewolf 0:b6fd1c37944a 32 void stop() {
Strikewolf 0:b6fd1c37944a 33 rightMotorPWM = 0;
Strikewolf 0:b6fd1c37944a 34 leftMotorPWM = 0;
Strikewolf 0:b6fd1c37944a 35 leftMotor1 = 0;
Strikewolf 0:b6fd1c37944a 36 leftMotor2 = 0;
Strikewolf 0:b6fd1c37944a 37 rightMotor1 = 0;
Strikewolf 0:b6fd1c37944a 38 rightMotor2 = 0;
Strikewolf 0:b6fd1c37944a 39 }
Strikewolf 0:b6fd1c37944a 40
Strikewolf 0:b6fd1c37944a 41 //Need compass module
Strikewolf 0:b6fd1c37944a 42 void gyroDriveStraight(float speed, bool reverse);
Strikewolf 0:b6fd1c37944a 43 void centerTurnLeft(int delta_degrees);
Strikewolf 0:b6fd1c37944a 44 void centerTurnRight(int delta_degrees);
Strikewolf 0:b6fd1c37944a 45 void driveTurnLeft(int delta_degrees);
Strikewolf 0:b6fd1c37944a 46 void driveTurnRight(int delta_degrees);