Matthias Hemmer / Motor

for Bertl2014 HTL-Graz-Göoesting

Steuerung.cpp@1:18c4a2bc1228, 2016-01-11 (annotated)

Committer:
hemmer_matthias
Date:
Mon Jan 11 12:16:19 2016 +0000
Revision:
1:18c4a2bc1228
Parent:
0:50c6cfc49ead 
Motor_PWM

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hemmer_matthias 0:50c6cfc49ead 1 #include "mbed.h"
hemmer_matthias 0:50c6cfc49ead 2
hemmer_matthias 0:50c6cfc49ead 3 // decleration for left engine
hemmer_matthias 0:50c6cfc49ead 4 PwmOut MotorL_EN(P1_15);
hemmer_matthias 0:50c6cfc49ead 5 DigitalOut MotorL_FORWARD(P1_1);
hemmer_matthias 0:50c6cfc49ead 6 DigitalOut MotorL_REVERSE(P1_0);
hemmer_matthias 0:50c6cfc49ead 7
hemmer_matthias 0:50c6cfc49ead 8 // decleration for right engine
hemmer_matthias 0:50c6cfc49ead 9 PwmOut MotorR_EN(P0_21);
hemmer_matthias 0:50c6cfc49ead 10 DigitalOut MotorR_FORWARD(P1_3);
hemmer_matthias 0:50c6cfc49ead 11 DigitalOut MotorR_REVERSE(P1_4);
hemmer_matthias 0:50c6cfc49ead 12
hemmer_matthias 1:18c4a2bc1228 13 void period_ms(int ms)
hemmer_matthias 1:18c4a2bc1228 14 {
hemmer_matthias 1:18c4a2bc1228 15 MotorL_EN.period_ms(ms);
hemmer_matthias 1:18c4a2bc1228 16 MotorR_EN.period_ms(ms);
hemmer_matthias 1:18c4a2bc1228 17 }
hemmer_matthias 1:18c4a2bc1228 18
hemmer_matthias 1:18c4a2bc1228 19 void bertl_engine(int left, int right, int seconds)
hemmer_matthias 1:18c4a2bc1228 20 {
hemmer_matthias 0:50c6cfc49ead 21
hemmer_matthias 1:18c4a2bc1228 22 /* int index_Engine = 0;
hemmer_matthias 1:18c4a2bc1228 23
hemmer_matthias 1:18c4a2bc1228 24 // decleration for left and right engine
hemmer_matthias 1:18c4a2bc1228 25 if (left > 0 && right > 0)
hemmer_matthias 0:50c6cfc49ead 26 index_Engine = 1;
hemmer_matthias 0:50c6cfc49ead 27
hemmer_matthias 0:50c6cfc49ead 28 else if (left < 0 && right > 0)
hemmer_matthias 0:50c6cfc49ead 29 index_Engine = 2;
hemmer_matthias 0:50c6cfc49ead 30
hemmer_matthias 0:50c6cfc49ead 31 else if (left > 0 && right < 0)
hemmer_matthias 0:50c6cfc49ead 32 index_Engine = 3;
hemmer_matthias 0:50c6cfc49ead 33
hemmer_matthias 0:50c6cfc49ead 34 else if (left < 0 && right < 0)
hemmer_matthias 0:50c6cfc49ead 35 index_Engine = 4;
hemmer_matthias 0:50c6cfc49ead 36
hemmer_matthias 0:50c6cfc49ead 37 else if (left == 0 && right < 0)
hemmer_matthias 0:50c6cfc49ead 38 index_Engine = 5;
hemmer_matthias 0:50c6cfc49ead 39
hemmer_matthias 0:50c6cfc49ead 40 else if (left == 0 && right > 0)
hemmer_matthias 0:50c6cfc49ead 41 index_Engine = 6;
hemmer_matthias 0:50c6cfc49ead 42
hemmer_matthias 0:50c6cfc49ead 43 else if (left < 0 && right == 0)
hemmer_matthias 0:50c6cfc49ead 44 index_Engine = 7;
hemmer_matthias 0:50c6cfc49ead 45
hemmer_matthias 0:50c6cfc49ead 46 else if (left > 0 && right == 0)
hemmer_matthias 0:50c6cfc49ead 47 index_Engine = 8;
hemmer_matthias 0:50c6cfc49ead 48 else
hemmer_matthias 0:50c6cfc49ead 49 index_Engine = 9;
hemmer_matthias 0:50c6cfc49ead 50
hemmer_matthias 0:50c6cfc49ead 51 switch (index_Engine) //begin Switch
hemmer_matthias 0:50c6cfc49ead 52 {
hemmer_matthias 0:50c6cfc49ead 53 case 1:
hemmer_matthias 1:18c4a2bc1228 54 MotorR_EN.pulsewidth_ms(seconds);
hemmer_matthias 1:18c4a2bc1228 55 MotorL_EN.pulsewidth_ms(seconds);
hemmer_matthias 1:18c4a2bc1228 56 MotorL_REVERSE = 0;
hemmer_matthias 1:18c4a2bc1228 57 MotorR_REVERSE = 0;
hemmer_matthias 0:50c6cfc49ead 58 MotorL_FORWARD = 1;
hemmer_matthias 1:18c4a2bc1228 59 MotorR_FORWARD = 1;
hemmer_matthias 0:50c6cfc49ead 60
hemmer_matthias 0:50c6cfc49ead 61 break;
hemmer_matthias 0:50c6cfc49ead 62
hemmer_matthias 0:50c6cfc49ead 63 case 2:
hemmer_matthias 0:50c6cfc49ead 64 MotorR_EN = 1;
hemmer_matthias 0:50c6cfc49ead 65 MotorL_EN = 1;
hemmer_matthias 1:18c4a2bc1228 66 MotorL_FORWARD = 0;
hemmer_matthias 1:18c4a2bc1228 67 MotorR_REVERSE = 0;
hemmer_matthias 0:50c6cfc49ead 68 MotorL_REVERSE = 1;
hemmer_matthias 0:50c6cfc49ead 69 MotorR_FORWARD = 1;
hemmer_matthias 0:50c6cfc49ead 70 break;
hemmer_matthias 0:50c6cfc49ead 71
hemmer_matthias 0:50c6cfc49ead 72 case 3:
hemmer_matthias 0:50c6cfc49ead 73 MotorR_EN = 1;
hemmer_matthias 0:50c6cfc49ead 74 MotorL_EN = 1;
hemmer_matthias 1:18c4a2bc1228 75 MotorL_REVERSE = 0;
hemmer_matthias 1:18c4a2bc1228 76 MotorR_FORWARD = 0;
hemmer_matthias 0:50c6cfc49ead 77 MotorL_FORWARD = 1;
hemmer_matthias 0:50c6cfc49ead 78 MotorR_REVERSE = 1;
hemmer_matthias 0:50c6cfc49ead 79 break;
hemmer_matthias 0:50c6cfc49ead 80
hemmer_matthias 0:50c6cfc49ead 81 case 4:
hemmer_matthias 0:50c6cfc49ead 82 MotorR_EN = 1;
hemmer_matthias 0:50c6cfc49ead 83 MotorL_EN = 1;
hemmer_matthias 1:18c4a2bc1228 84 MotorL_FORWARD = 0;
hemmer_matthias 1:18c4a2bc1228 85 MotorR_FORWARD = 0;
hemmer_matthias 0:50c6cfc49ead 86 MotorL_REVERSE = 1;
hemmer_matthias 0:50c6cfc49ead 87 MotorR_REVERSE = 1;
hemmer_matthias 0:50c6cfc49ead 88 break;
hemmer_matthias 0:50c6cfc49ead 89
hemmer_matthias 0:50c6cfc49ead 90 case 5:
hemmer_matthias 0:50c6cfc49ead 91 MotorL_EN = 0;
hemmer_matthias 0:50c6cfc49ead 92 MotorR_EN = 1;
hemmer_matthias 1:18c4a2bc1228 93 MotorR_FORWARD = 0;
hemmer_matthias 0:50c6cfc49ead 94 MotorR_REVERSE = 1;
hemmer_matthias 0:50c6cfc49ead 95 break;
hemmer_matthias 0:50c6cfc49ead 96
hemmer_matthias 0:50c6cfc49ead 97 case 6:
hemmer_matthias 0:50c6cfc49ead 98 MotorL_EN = 0;
hemmer_matthias 0:50c6cfc49ead 99 MotorR_EN = 1;
hemmer_matthias 1:18c4a2bc1228 100 MotorR_REVERSE = 0;
hemmer_matthias 0:50c6cfc49ead 101 MotorR_FORWARD = 1;
hemmer_matthias 0:50c6cfc49ead 102 break;
hemmer_matthias 0:50c6cfc49ead 103
hemmer_matthias 0:50c6cfc49ead 104 case 7:
hemmer_matthias 0:50c6cfc49ead 105 MotorR_EN = 0;
hemmer_matthias 1:18c4a2bc1228 106 MotorL_EN = 1;
hemmer_matthias 1:18c4a2bc1228 107 MotorL_FORWARD = 0;
hemmer_matthias 0:50c6cfc49ead 108 MotorL_REVERSE = 1;
hemmer_matthias 0:50c6cfc49ead 109 break;
hemmer_matthias 0:50c6cfc49ead 110
hemmer_matthias 0:50c6cfc49ead 111 case 8:
hemmer_matthias 0:50c6cfc49ead 112 MotorR_EN = 0;
hemmer_matthias 0:50c6cfc49ead 113 MotorL_EN = 1;
hemmer_matthias 1:18c4a2bc1228 114 MotorL_REVERSE = 0;
hemmer_matthias 0:50c6cfc49ead 115 MotorL_FORWARD = 1;
hemmer_matthias 0:50c6cfc49ead 116 break;
hemmer_matthias 0:50c6cfc49ead 117
hemmer_matthias 0:50c6cfc49ead 118 case 9:
hemmer_matthias 0:50c6cfc49ead 119 MotorR_EN = 0;
hemmer_matthias 0:50c6cfc49ead 120 MotorL_EN = 0;
hemmer_matthias 0:50c6cfc49ead 121 break;
hemmer_matthias 1:18c4a2bc1228 122 }//end Switch */
hemmer_matthias 1:18c4a2bc1228 123 }//end bertl_engine