Revision 0:189bab6b91f6, committed 2018-05-15

Comitter:

hamaint

Date:

Tue May 15 03:05:14 2018 +0000

Commit message:

trop beau ce code

Changed in this revision

diff -r 000000000000 -r 189bab6b91f6 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue May 15 03:05:14 2018 +0000
@@ -0,0 +1,100 @@
+#include "mbed.h"
+ 
+PwmOut left(D5);
+PwmOut right(D6);
+
+void init_pwm();
+void stop();
+void forward(float speed);
+void backward(float speed);
+void turn_left_forward(float speed);
+void turn_right_forward(float speed);
+void turn_right_backward(float speed);
+void turn_left_backward(float speed);
+void rotate_left(float speed);
+void rotate_right(float speed);
+ 
+int main() {
+    
+    init_pwm();
+    
+    wait_ms(100);
+    
+            forward(50);
+            wait(1);
+            stop();
+            wait(1);
+            turn_left_forward(50);
+            wait(1);
+            stop();
+            wait(1);
+            turn_right_backward(50);
+            wait(1);
+            stop();
+            wait(1);
+            backward(50);
+            wait(1);
+            stop();
+            wait(1);
+            rotate_right(50);
+            wait(1);
+            stop();
+            
+            
+        
+}
+
+void init_pwm(){
+    
+    //frequency set to 10kHz for both motors
+    left.period(0.0001f);
+    right.period(0.0001f);
+    //stall the motors
+    left.write(0.5f); 
+    right.write(0.5f); 
+    }
+    
+void forward(float speed){
+        left.write(0.5f + speed/1000);
+        right.write(0.5f + speed/1000);
+    }
+    
+void backward(float speed){
+        left.write(0.5f - speed/1000);
+        right.write(0.5f - speed/1000);
+    }
+
+void turn_left_forward(float speed){
+        left.write(0.5f);
+        right.write(0.5f + speed/1000);
+    }
+    
+void turn_right_forward(float speed){
+        left.write(0.5f + speed/1000);
+        right.write(0.5f);
+    }
+    
+void turn_right_backward(float speed){
+        left.write(0.5f - speed/1000);
+        right.write(0.5f);
+    }
+
+void turn_left_backward(float speed){
+        left.write(0.5f);
+        right.write(0.5f - speed/1000);
+    }
+    
+void rotate_left(float speed){
+        left.write(0.5f - speed/100);
+        right.write(0.5f + speed/1000);
+    }
+
+void rotate_right(float speed){
+        left.write(0.5f - speed/100);
+        right.write(0.5f + speed/1000);
+    }
+
+void stop(){
+        left.write(0.5f);
+        right.write(0.5f);
+    }
\ No newline at end of file

diff -r 000000000000 -r 189bab6b91f6 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Tue May 15 03:05:14 2018 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/5aab5a7997ee
\ No newline at end of file