Diff: bertl14.cpp

Revision:

0:f40ab7184c3f

Child:

1:01bc0c86f111

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/bertl14.cpp	Mon Jan 18 09:44:28 2016 +0000
@@ -0,0 +1,57 @@
+#include <mbed.h>
+#include "bertl14.h"
+
+DigitalOut engineLR(P1_0);     //IN1, EP10, MG1A => MG1 engine-Pin 2, left_Reverse
+DigitalOut engineLF(P1_1);     //IN2, EP11, MG1B => MG1 engine-Pin 1, left_Forward
+PwmOut engineLEN(p34);       //EN1, P34, left_ENABLE
+DigitalOut engineRR(P1_4);    //IN4, EP13, MG2A => MG2 engine-Pin 2, right_Reverse
+DigitalOut engineRF(P1_3);    //IN3, EP14, MG2B => MG2 engine-Pin 1, right_Forward
+PwmOut engineREN(p36);      //EN2, P36, right_ENABLE
+
+void bertl_engine(int left, int right)
+{  
+    // If the left engines-value is greater than 0, the left engine turn FORWARD
+    if(left > 0)
+    {
+        engineLF=1;
+        engineLR=0;
+    }
+    // Or if the left engines-value is less than 0, the left engine turn REVERSE
+    else if(left < 0)
+    {
+        engineLF=0;
+        engineLR=1;
+        left = left * (-1);         // For PWM the Value have to be positive
+    }
+    // If the right engines-value is greater than 0, the right engine turn FORWARD
+    if(right > 0)
+    {
+        engineRF=1;  
+        engineRR=0;
+    }
+    // Or if the right engines-value is less than 0, the right engine turn REVERSE
+    else if(right < 0)
+    {
+        engineRF=0;
+        engineRR=1;
+        right = right * (-1);       // For PWM the Value have to be positive
+    }
+    //pc.printf("left: %4d\r\n", left);
+    //pc.printf("right: %4d\r\n", right);
+    // Or if the right- or/and the left engines value equals 0, the ENABLE-Pin turn off (ENABLE Pin equals 0)
+    engineLEN=(left/255.0);      // PWM Value : 0 ... 1
+    engineREN=(right/255.0);    // PWM Value : 0 ... 1
+}
+//Begin Testing bertl-engines
+void bertl_engine_test()
+{
+    bertl_engine(100, 0);     //The left engine must turn FORWARD for 2 seconds
+    wait(2);
+    bertl_engine(0, 100);     //The right engine must turn FORWARD for 2 seconds
+    wait(2);
+    bertl_engine(-100, 0);    //The left engine must turn REVERSE for 2 seconds
+    wait(2);
+    bertl_engine(0, -100);    //The right engine must turn REVERSE for 2 seconds
+    wait(2);
+}
+//End Testing bertl-engines
\ No newline at end of file