asdf
Dependencies: L3GD20 LSM303DLHC mbed
Headers/Motors.h@8:ce5b1bf38077, 2014-04-03 (annotated)
- Committer:
- goy5022
- Date:
- Thu Apr 03 23:58:04 2014 +0000
- Revision:
- 8:ce5b1bf38077
- Parent:
- 7:95ebadc83fc7
asdf
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
goy5022 | 0:c2ec30f28676 | 1 | |
goy5022 | 2:997f57aee3b7 | 2 | #ifndef MOTOR_H |
goy5022 | 2:997f57aee3b7 | 3 | #define MOTOR_H |
goy5022 | 0:c2ec30f28676 | 4 | |
goy5022 | 0:c2ec30f28676 | 5 | #include "mbed.h" |
goy5022 | 7:95ebadc83fc7 | 6 | #include "Mapping.h" |
goy5022 | 0:c2ec30f28676 | 7 | |
goy5022 | 2:997f57aee3b7 | 8 | #define turn_time 152 |
goy5022 | 4:ecfe2115e9a4 | 9 | #define MOTOR_WAIT 600 |
goy5022 | 0:c2ec30f28676 | 10 | #define forward_time 190 |
goy5022 | 0:c2ec30f28676 | 11 | |
goy5022 | 7:95ebadc83fc7 | 12 | |
goy5022 | 2:997f57aee3b7 | 13 | //#include "Sensors.h" |
goy5022 | 1:cfe6a6ad8dca | 14 | |
goy5022 | 1:cfe6a6ad8dca | 15 | Serial Motor(p13,p14); |
goy5022 | 0:c2ec30f28676 | 16 | |
goy5022 | 2:997f57aee3b7 | 17 | int rSpeed = 0; |
goy5022 | 2:997f57aee3b7 | 18 | int lSpeed = 0; |
goy5022 | 0:c2ec30f28676 | 19 | |
goy5022 | 0:c2ec30f28676 | 20 | void setRightSpeed(int speed) |
goy5022 | 0:c2ec30f28676 | 21 | { |
goy5022 | 0:c2ec30f28676 | 22 | if(speed >= 0) |
goy5022 | 0:c2ec30f28676 | 23 | Motor.printf("2f%i\r", speed); |
goy5022 | 0:c2ec30f28676 | 24 | else |
goy5022 | 0:c2ec30f28676 | 25 | Motor.printf("2r%i\r", (-speed)); |
goy5022 | 2:997f57aee3b7 | 26 | |
goy5022 | 2:997f57aee3b7 | 27 | |
goy5022 | 2:997f57aee3b7 | 28 | rSpeed = speed; |
goy5022 | 2:997f57aee3b7 | 29 | wait_us(MOTOR_WAIT); |
goy5022 | 0:c2ec30f28676 | 30 | } |
goy5022 | 0:c2ec30f28676 | 31 | |
goy5022 | 0:c2ec30f28676 | 32 | |
goy5022 | 0:c2ec30f28676 | 33 | void setLeftSpeed(int speed) |
goy5022 | 0:c2ec30f28676 | 34 | { |
goy5022 | 0:c2ec30f28676 | 35 | if(speed >= 0) |
goy5022 | 0:c2ec30f28676 | 36 | Motor.printf("1r%i\r", speed); |
goy5022 | 0:c2ec30f28676 | 37 | else |
goy5022 | 0:c2ec30f28676 | 38 | Motor.printf("1f%i\r", (-speed)); |
goy5022 | 2:997f57aee3b7 | 39 | |
goy5022 | 2:997f57aee3b7 | 40 | lSpeed = speed; |
goy5022 | 2:997f57aee3b7 | 41 | wait_us(MOTOR_WAIT); |
goy5022 | 0:c2ec30f28676 | 42 | } |
goy5022 | 2:997f57aee3b7 | 43 | |
goy5022 | 2:997f57aee3b7 | 44 | void stop_mov() |
goy5022 | 0:c2ec30f28676 | 45 | { |
goy5022 | 3:1a8a7cc709cc | 46 | wait_us(MOTOR_WAIT); |
goy5022 | 0:c2ec30f28676 | 47 | setLeftSpeed(0); |
goy5022 | 2:997f57aee3b7 | 48 | wait_us(MOTOR_WAIT); |
goy5022 | 0:c2ec30f28676 | 49 | setRightSpeed(0); |
goy5022 | 2:997f57aee3b7 | 50 | wait_us(MOTOR_WAIT); |
goy5022 | 0:c2ec30f28676 | 51 | |
goy5022 | 0:c2ec30f28676 | 52 | } |
goy5022 | 0:c2ec30f28676 | 53 | |
goy5022 | 1:cfe6a6ad8dca | 54 | void forward(int f) |
goy5022 | 1:cfe6a6ad8dca | 55 | { |
goy5022 | 3:1a8a7cc709cc | 56 | wait_us(MOTOR_WAIT); |
goy5022 | 1:cfe6a6ad8dca | 57 | setLeftSpeed(f-1); |
goy5022 | 2:997f57aee3b7 | 58 | wait_us(MOTOR_WAIT); |
goy5022 | 1:cfe6a6ad8dca | 59 | setRightSpeed(f); |
goy5022 | 2:997f57aee3b7 | 60 | wait_us(MOTOR_WAIT); |
goy5022 | 1:cfe6a6ad8dca | 61 | setLeftSpeed(f); |
goy5022 | 2:997f57aee3b7 | 62 | wait_us(MOTOR_WAIT); |
goy5022 | 1:cfe6a6ad8dca | 63 | |
goy5022 | 7:95ebadc83fc7 | 64 | |
goy5022 | 1:cfe6a6ad8dca | 65 | |
goy5022 | 2:997f57aee3b7 | 66 | stop_mov(); |
goy5022 | 1:cfe6a6ad8dca | 67 | } |
goy5022 | 1:cfe6a6ad8dca | 68 | |
goy5022 | 0:c2ec30f28676 | 69 | void turn_right(int r) |
goy5022 | 0:c2ec30f28676 | 70 | { |
goy5022 | 7:95ebadc83fc7 | 71 | |
goy5022 | 7:95ebadc83fc7 | 72 | wait(0.5); |
goy5022 | 7:95ebadc83fc7 | 73 | forward(3); |
goy5022 | 7:95ebadc83fc7 | 74 | wait_ms(320); |
goy5022 | 2:997f57aee3b7 | 75 | wait_us(MOTOR_WAIT); |
goy5022 | 7:95ebadc83fc7 | 76 | setLeftSpeed(-2); |
goy5022 | 2:997f57aee3b7 | 77 | wait_us(MOTOR_WAIT); |
goy5022 | 7:95ebadc83fc7 | 78 | setRightSpeed(-1); |
goy5022 | 7:95ebadc83fc7 | 79 | wait_ms(25); |
goy5022 | 2:997f57aee3b7 | 80 | stop_mov(); |
goy5022 | 2:997f57aee3b7 | 81 | |
goy5022 | 7:95ebadc83fc7 | 82 | |
goy5022 | 0:c2ec30f28676 | 83 | } |
goy5022 | 0:c2ec30f28676 | 84 | void turn_left(int l) |
goy5022 | 0:c2ec30f28676 | 85 | { |
goy5022 | 7:95ebadc83fc7 | 86 | forward(2); |
goy5022 | 7:95ebadc83fc7 | 87 | wait_ms(200); |
goy5022 | 7:95ebadc83fc7 | 88 | stop_mov(); |
goy5022 | 0:c2ec30f28676 | 89 | setLeftSpeed(-l); |
goy5022 | 2:997f57aee3b7 | 90 | wait_us(MOTOR_WAIT); |
goy5022 | 0:c2ec30f28676 | 91 | setRightSpeed(l); |
goy5022 | 7:95ebadc83fc7 | 92 | wait_ms(turn_time); ///Set for turn speed |
goy5022 | 0:c2ec30f28676 | 93 | setRightSpeed(0); |
goy5022 | 2:997f57aee3b7 | 94 | wait_us(MOTOR_WAIT); |
goy5022 | 0:c2ec30f28676 | 95 | setLeftSpeed(0); |
goy5022 | 2:997f57aee3b7 | 96 | wait_us(MOTOR_WAIT); |
goy5022 | 7:95ebadc83fc7 | 97 | orientation_turnLeft(); |
goy5022 | 7:95ebadc83fc7 | 98 | forward(2); |
goy5022 | 7:95ebadc83fc7 | 99 | wait_ms(200); |
goy5022 | 7:95ebadc83fc7 | 100 | stop_mov(); |
goy5022 | 0:c2ec30f28676 | 101 | } |
goy5022 | 7:95ebadc83fc7 | 102 | |
goy5022 | 7:95ebadc83fc7 | 103 | void turn_around(int a) |
goy5022 | 7:95ebadc83fc7 | 104 | { |
goy5022 | 7:95ebadc83fc7 | 105 | setLeftSpeed(-a); |
goy5022 | 7:95ebadc83fc7 | 106 | wait_us(MOTOR_WAIT); |
goy5022 | 7:95ebadc83fc7 | 107 | setRightSpeed(a); |
goy5022 | 7:95ebadc83fc7 | 108 | wait_ms(turn_time); |
goy5022 | 7:95ebadc83fc7 | 109 | wait_ms(turn_time); ///Set for turn speed |
goy5022 | 7:95ebadc83fc7 | 110 | setRightSpeed(0); |
goy5022 | 7:95ebadc83fc7 | 111 | wait_us(MOTOR_WAIT); |
goy5022 | 7:95ebadc83fc7 | 112 | setLeftSpeed(0); |
goy5022 | 7:95ebadc83fc7 | 113 | wait_us(MOTOR_WAIT); |
goy5022 | 7:95ebadc83fc7 | 114 | orientation_turnAround(); |
goy5022 | 7:95ebadc83fc7 | 115 | } |
goy5022 | 7:95ebadc83fc7 | 116 | |
goy5022 | 3:1a8a7cc709cc | 117 | void handbrake() |
goy5022 | 3:1a8a7cc709cc | 118 | { |
goy5022 | 5:9e504a5a1f48 | 119 | if(lSpeed > 0 && rSpeed > 0) |
goy5022 | 5:9e504a5a1f48 | 120 | { |
goy5022 | 3:1a8a7cc709cc | 121 | wait_us(MOTOR_WAIT); |
goy5022 | 3:1a8a7cc709cc | 122 | setLeftSpeed(-3); |
goy5022 | 3:1a8a7cc709cc | 123 | wait_us(MOTOR_WAIT); |
goy5022 | 3:1a8a7cc709cc | 124 | setRightSpeed(-4); |
goy5022 | 3:1a8a7cc709cc | 125 | wait_us(MOTOR_WAIT); |
goy5022 | 3:1a8a7cc709cc | 126 | setLeftSpeed(-4); |
goy5022 | 5:9e504a5a1f48 | 127 | wait_ms(50); |
goy5022 | 3:1a8a7cc709cc | 128 | setRightSpeed(-3); |
goy5022 | 3:1a8a7cc709cc | 129 | wait_us(MOTOR_WAIT); |
goy5022 | 3:1a8a7cc709cc | 130 | setLeftSpeed(-4); |
goy5022 | 3:1a8a7cc709cc | 131 | wait_us(MOTOR_WAIT); |
goy5022 | 3:1a8a7cc709cc | 132 | setLeftSpeed(-3); |
goy5022 | 5:9e504a5a1f48 | 133 | wait_ms(100); |
goy5022 | 3:1a8a7cc709cc | 134 | wait_us(MOTOR_WAIT); |
goy5022 | 3:1a8a7cc709cc | 135 | setRightSpeed(-1); |
goy5022 | 3:1a8a7cc709cc | 136 | wait_us(MOTOR_WAIT); |
goy5022 | 3:1a8a7cc709cc | 137 | setLeftSpeed(-1); |
goy5022 | 3:1a8a7cc709cc | 138 | wait_ms(10); |
goy5022 | 5:9e504a5a1f48 | 139 | } |
goy5022 | 3:1a8a7cc709cc | 140 | wait_us(MOTOR_WAIT); |
goy5022 | 3:1a8a7cc709cc | 141 | setRightSpeed(0); |
goy5022 | 3:1a8a7cc709cc | 142 | wait_us(MOTOR_WAIT); |
goy5022 | 3:1a8a7cc709cc | 143 | setLeftSpeed(0); |
goy5022 | 4:ecfe2115e9a4 | 144 | wait_us(MOTOR_WAIT); |
goy5022 | 4:ecfe2115e9a4 | 145 | setRightSpeed(0); |
goy5022 | 4:ecfe2115e9a4 | 146 | wait_us(MOTOR_WAIT); |
goy5022 | 4:ecfe2115e9a4 | 147 | setLeftSpeed(0); |
goy5022 | 3:1a8a7cc709cc | 148 | } |
goy5022 | 2:997f57aee3b7 | 149 | #endif |