Thomas Hamain / Mbed 2 deprecated asservissement_robot2

asservissement robot 2, C++, doc fournie

Dependencies:   mbed QEI L298 Asservissement

Moteur.cpp

Committer:
hamaint
Date:
2019-03-19
Revision:
1:11cbd2bf65d7

File content as of revision 1:11cbd2bf65d7:

#include "Moteur.h"


#define PERIODE_PWM_MOTEUR 0.001

PwmOut mypwm_a(D6);
PwmOut mypwm_b(D11);

DigitalOut in1(D7);
DigitalOut in2(D8);
DigitalOut in3(D9);
DigitalOut in4(D10);



void moteur_init()
{
    mypwm_a.period(PERIODE_PWM_MOTEUR);
    mypwm_b.period(PERIODE_PWM_MOTEUR);
    mypwm_a.pulsewidth(0);
    mypwm_b.pulsewidth(0);
}

void moteur_a(float percent)
{

    if (percent>=0) {
        in1 = 1;
        in2 = 0;
    } else {
        in1 = 0;
        in2 = 1;
        percent = -1 * percent;
    }
    mypwm_a.pulsewidth((float)percent*(float)PERIODE_PWM_MOTEUR);
}

void moteur_b(float percent)
{

    if (percent>=0) {
        in4 = 1;
        in3 = 0;
    } else {
        in4 = 0;
        in3 = 1;
        percent = -1 * percent;
    }

    mypwm_b.pulsewidth((float)percent*(float)PERIODE_PWM_MOTEUR);
}