Matthias Hemmer / Motor

for Bertl2014 HTL-Graz-Göoesting

Steuerung.cpp@0:50c6cfc49ead, 2015-12-29 (annotated)

Committer:
hemmer_matthias
Date:
Tue Dec 29 11:16:51 2015 +0000
Revision:
0:50c6cfc49ead
Child:
1:18c4a2bc1228
Motortest

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 0:50c6cfc49ead 13 void bertl_engine (int left, int right)
hemmer_matthias 0:50c6cfc49ead 14 {
hemmer_matthias 0:50c6cfc49ead 15 MotorL_EN = MotorR_EN = 1;
hemmer_matthias 0:50c6cfc49ead 16
hemmer_matthias 0:50c6cfc49ead 17 int index_Engine = 0;
hemmer_matthias 0:50c6cfc49ead 18
hemmer_matthias 0:50c6cfc49ead 19 if (left > 0 && right > 0) // decleration for left and right engine
hemmer_matthias 0:50c6cfc49ead 20 index_Engine = 1;
hemmer_matthias 0:50c6cfc49ead 21
hemmer_matthias 0:50c6cfc49ead 22 else if (left < 0 && right > 0)
hemmer_matthias 0:50c6cfc49ead 23 index_Engine = 2;
hemmer_matthias 0:50c6cfc49ead 24
hemmer_matthias 0:50c6cfc49ead 25 else if (left > 0 && right < 0)
hemmer_matthias 0:50c6cfc49ead 26 index_Engine = 3;
hemmer_matthias 0:50c6cfc49ead 27
hemmer_matthias 0:50c6cfc49ead 28 else if (left < 0 && right < 0)
hemmer_matthias 0:50c6cfc49ead 29 index_Engine = 4;
hemmer_matthias 0:50c6cfc49ead 30
hemmer_matthias 0:50c6cfc49ead 31 else if (left == 0 && right < 0)
hemmer_matthias 0:50c6cfc49ead 32 index_Engine = 5;
hemmer_matthias 0:50c6cfc49ead 33
hemmer_matthias 0:50c6cfc49ead 34 else if (left == 0 && right > 0)
hemmer_matthias 0:50c6cfc49ead 35 index_Engine = 6;
hemmer_matthias 0:50c6cfc49ead 36
hemmer_matthias 0:50c6cfc49ead 37 else if (left < 0 && right == 0)
hemmer_matthias 0:50c6cfc49ead 38 index_Engine = 7;
hemmer_matthias 0:50c6cfc49ead 39
hemmer_matthias 0:50c6cfc49ead 40 else if (left > 0 && right == 0)
hemmer_matthias 0:50c6cfc49ead 41 index_Engine = 8;
hemmer_matthias 0:50c6cfc49ead 42 else
hemmer_matthias 0:50c6cfc49ead 43 index_Engine = 9;
hemmer_matthias 0:50c6cfc49ead 44
hemmer_matthias 0:50c6cfc49ead 45 switch (index_Engine) //begin Switch
hemmer_matthias 0:50c6cfc49ead 46 {
hemmer_matthias 0:50c6cfc49ead 47 case 1:
hemmer_matthias 0:50c6cfc49ead 48 MotorR_EN = 1;
hemmer_matthias 0:50c6cfc49ead 49 MotorL_EN = 1;
hemmer_matthias 0:50c6cfc49ead 50 MotorL_FORWARD = 1;
hemmer_matthias 0:50c6cfc49ead 51 MotorR_FORWARD = 1;
hemmer_matthias 0:50c6cfc49ead 52
hemmer_matthias 0:50c6cfc49ead 53 break;
hemmer_matthias 0:50c6cfc49ead 54
hemmer_matthias 0:50c6cfc49ead 55 case 2:
hemmer_matthias 0:50c6cfc49ead 56 MotorR_EN = 1;
hemmer_matthias 0:50c6cfc49ead 57 MotorL_EN = 1;
hemmer_matthias 0:50c6cfc49ead 58 MotorL_REVERSE = 1;
hemmer_matthias 0:50c6cfc49ead 59 MotorR_FORWARD = 1;
hemmer_matthias 0:50c6cfc49ead 60 break;
hemmer_matthias 0:50c6cfc49ead 61
hemmer_matthias 0:50c6cfc49ead 62 case 3:
hemmer_matthias 0:50c6cfc49ead 63 MotorR_EN = 1;
hemmer_matthias 0:50c6cfc49ead 64 MotorL_EN = 1;
hemmer_matthias 0:50c6cfc49ead 65 MotorL_FORWARD = 1;
hemmer_matthias 0:50c6cfc49ead 66 MotorR_REVERSE = 1;
hemmer_matthias 0:50c6cfc49ead 67 break;
hemmer_matthias 0:50c6cfc49ead 68
hemmer_matthias 0:50c6cfc49ead 69 case 4:
hemmer_matthias 0:50c6cfc49ead 70 MotorR_EN = 1;
hemmer_matthias 0:50c6cfc49ead 71 MotorL_EN = 1;
hemmer_matthias 0:50c6cfc49ead 72 MotorL_REVERSE = 1;
hemmer_matthias 0:50c6cfc49ead 73 MotorR_REVERSE = 1;
hemmer_matthias 0:50c6cfc49ead 74 break;
hemmer_matthias 0:50c6cfc49ead 75
hemmer_matthias 0:50c6cfc49ead 76 case 5:
hemmer_matthias 0:50c6cfc49ead 77 MotorL_EN = 0;
hemmer_matthias 0:50c6cfc49ead 78 MotorR_EN = 1;
hemmer_matthias 0:50c6cfc49ead 79 MotorR_REVERSE = 1;
hemmer_matthias 0:50c6cfc49ead 80 break;
hemmer_matthias 0:50c6cfc49ead 81
hemmer_matthias 0:50c6cfc49ead 82 case 6:
hemmer_matthias 0:50c6cfc49ead 83 MotorL_EN = 0;
hemmer_matthias 0:50c6cfc49ead 84 MotorR_EN = 1;
hemmer_matthias 0:50c6cfc49ead 85 MotorR_FORWARD = 1;
hemmer_matthias 0:50c6cfc49ead 86 break;
hemmer_matthias 0:50c6cfc49ead 87
hemmer_matthias 0:50c6cfc49ead 88 case 7:
hemmer_matthias 0:50c6cfc49ead 89 MotorR_EN = 0;
hemmer_matthias 0:50c6cfc49ead 90 MotorR_EN = 1;
hemmer_matthias 0:50c6cfc49ead 91 MotorL_REVERSE = 1;
hemmer_matthias 0:50c6cfc49ead 92 break;
hemmer_matthias 0:50c6cfc49ead 93
hemmer_matthias 0:50c6cfc49ead 94 case 8:
hemmer_matthias 0:50c6cfc49ead 95 MotorR_EN = 0;
hemmer_matthias 0:50c6cfc49ead 96 MotorL_EN = 1;
hemmer_matthias 0:50c6cfc49ead 97 MotorL_FORWARD = 1;
hemmer_matthias 0:50c6cfc49ead 98 break;
hemmer_matthias 0:50c6cfc49ead 99
hemmer_matthias 0:50c6cfc49ead 100 case 9:
hemmer_matthias 0:50c6cfc49ead 101 MotorR_EN = 0;
hemmer_matthias 0:50c6cfc49ead 102 MotorL_EN = 0;
hemmer_matthias 0:50c6cfc49ead 103 break;
hemmer_matthias 0:50c6cfc49ead 104 }//end Switch
hemmer_matthias 0:50c6cfc49ead 105 }//end bertl_engine