Diff: RobotControl.h

Revision:

0:b6fd1c37944a

Child:

1:41cee26b35cc

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/RobotControl.h	Fri Apr 11 17:40:07 2014 +0000
@@ -0,0 +1,46 @@
+//*******************************************
+//* Robot motor control and drive functions *
+//*******************************************
+
+#include "HMC6352.h"
+
+//Gyro
+HMC6532 compass(p28, p27);
+
+//H-bridge
+PwmOut rightMotorPWM(p21);  //Channel A
+PwmOut leftMotorPWM(p22);   //Channel B
+DigitalOut leftMotor1(p23);
+DigitalOut leftMotor2(p24);
+DigitalOut rightMotor1(p25);
+DigitalOut rightMotor2(p26);
+
+//Non-feedback corrected 'dumb' driving
+void setDriveStraight(float speed, bool reverse) {
+    //Set speed
+    rightMotorPWM = speed;
+    leftMotorPWM = speed;
+    
+    //Set motor function
+    leftMotor1 = (!reverse) ? 0 : 1;
+    leftMotor2 = (!reverse) ? 1 : 0;
+    rightMotor1 = (!reverse) ? 0 : 1;
+    rightMotor2 = (!reverse) ? 1 : 0;
+}
+
+//Stop with braking
+void stop() {
+    rightMotorPWM = 0;
+    leftMotorPWM = 0;
+    leftMotor1 = 0;
+    leftMotor2 = 0;
+    rightMotor1 = 0;
+    rightMotor2 = 0;
+}
+
+//Need compass module
+void gyroDriveStraight(float speed, bool reverse);
+void centerTurnLeft(int delta_degrees);
+void centerTurnRight(int delta_degrees);
+void driveTurnLeft(int delta_degrees);
+void driveTurnRight(int delta_degrees);