Revision 4:bf5caf4c0c88, committed 2019-10-23

Comitter:

gvaquette

Date:

Wed Oct 23 19:25:12 2019 +0000

Parent:

3:a0e37b8918ac

Child:

5:d99659a45cab

Commit message:

testing motors and add comments

Changed in this revision

--- a/includes/console_output.h	Wed Oct 23 14:01:59 2019 +0000
+++ b/includes/console_output.h	Wed Oct 23 19:25:12 2019 +0000
@@ -20,8 +20,10 @@
 
 void ft_print_test_menu(Serial &pc);
 
-void ft_print_to_be_imp(Serial &pc)
+void ft_print_to_be_imp(Serial &pc);
 
 e_test ft_get_user_choice(Serial &pc);
 
+int ft_get_user_int(Serial &pc);
+
 #endif /* CONSOLEOUTPUT_H */
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/includes/test_motor.h	Wed Oct 23 19:25:12 2019 +0000
@@ -0,0 +1,29 @@
+/**
+ * @author geoffrey Vaquette
+ *
+ * @section DESCRIPTION
+ *
+ * Testing value from ultrasonic sensors on robot
+ *
+ */
+ 
+#ifndef TEST_MOTOR_H
+#define TEST_MOTOR_H
+
+#include "mbed.h"
+
+enum e_direction {
+    FORWARD,
+    BACKWARD
+    };
+    
+/// <summary>Sorts the list to by the given column</summary>
+/// <param name="sel">Column to be sorted (index-1-based) and sort direction (pos. = ascending)</param>  
+/// <returns>Documentation of return type</returns> 
+void ft_run_motor(e_direction direction, double duty_cycle, PwmOut pwm_mot, DigitalOut  dirA, DigitalOut  dirB);
+
+void ft_test_motor(PwmOut pin_pwm_mot, DigitalOut pin_dirA, DigitalOut pin_dirB, Serial &pc); 
+
+
+
+#endif
\ No newline at end of file

--- a/main.cpp	Wed Oct 23 14:01:59 2019 +0000
+++ b/main.cpp	Wed Oct 23 19:25:12 2019 +0000
@@ -4,11 +4,11 @@
 #include "test_us.h"
 #include "test_compass.h"
 #include "test_cny.h"
+#include "test_motor.h"
 
 #include "pin_connexions.h"
 
 
-
 Serial      pc      (PA_2, PA_3, 115200);
 
 int main() {
@@ -16,8 +16,11 @@
     ft_print_test_menu(pc);
     user_choice = ft_get_user_choice(pc);
     
+    
+    /* Main loop */
     while(1)
     {
+        /* Which component to test ? */
         switch (user_choice) 
         {
         case ULTRASONIC :
@@ -62,20 +65,12 @@
             break;
         
         case LEFT_MOTOR : 
-            do
-            {
-                ft_print_to_be_imp(pc);
-            } while (!pc.readable());
-            pc.printf("\n");
+            ft_test_motor(Pwm_MG,DIR_1G,DIR_2G,pc);
             user_choice = ft_get_user_choice(pc);
             break;
             
         case RIGHT_MOTOR: 
-            do
-            {
-                ft_print_to_be_imp(pc);
-            } while (!pc.readable());
-            pc.printf("\n");
+            ft_test_motor(Pwm_MD,DIR_1D,DIR_2D,pc);
             user_choice = ft_get_user_choice(pc);
             break;
             

--- a/src/console_output.cpp	Wed Oct 23 14:01:59 2019 +0000
+++ b/src/console_output.cpp	Wed Oct 23 19:25:12 2019 +0000
@@ -19,7 +19,16 @@
     return user_choice;
 }
 
+int ft_get_user_int(Serial &pc)
+{
+    int user_int  = (e_test) (pc.getc() -'0');
+    if (user_int > 9 || user_int < 0) 
+        return -1;
+    else
+        return user_int;
+}
+
 void ft_print_to_be_imp(Serial &pc)
 {
-    printf("\n\rTo be implemented\n");
+    printf("\rTo be implemented");
 }
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/test_motor/ft_run_motor.cpp	Wed Oct 23 19:25:12 2019 +0000
@@ -0,0 +1,22 @@
+#include "mbed.h"
+#include "test_motor.h"
+
+void ft_run_motor(  e_direction direction, double duty_cycle,
+                    PwmOut pwm_mot, DigitalOut  dirA, DigitalOut  dirB)
+{
+    
+    /* TO DO : define direction */
+    
+    if (direction == FORWARD)
+    {
+        dirA = 1;
+        dirB = 0;   
+    }
+    else // direction == BACKWARD
+    {
+        dirA = 0;
+        dirB = 1;  
+    }
+    
+    pwm_mot = duty_cycle;
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/test_motor/test_motor.cpp	Wed Oct 23 19:25:12 2019 +0000
@@ -0,0 +1,27 @@
+#include "mbed.h"
+#include "test_motor.h"
+#include "console_output.h"
+
+
+
+
+void ft_test_motor(PwmOut pin_pwm_mot, DigitalOut pin_dirA, DigitalOut pin_dirB,
+                    Serial &pc)
+{
+    e_direction direction = FORWARD;
+    
+    int user_int=1;
+    double duty_cycle =0.1;
+    
+    do{
+        if (pc.readable() )
+        {
+            user_int = ft_get_user_int(pc);
+            if (user_int < 10 && user_int >= 0) duty_cycle = user_int/10.0; 
+        }
+        
+        ft_run_motor(direction, duty_cycle, pin_pwm_mot, pin_dirA, pin_dirB);
+    } while (user_int > 0);
+    
+    return;
+}
\ No newline at end of file