Diff: hack_motor.cpp

Revision:

1:e854d5c12659

Child:

2:b996c95912b5

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/hack_motor.cpp	Sat Apr 05 11:26:42 2014 +0000
@@ -0,0 +1,121 @@
+#include "mbed.h"
+#include "hack_motor.h"
+#include "PwmOut.h"
+
+Wheel::Wheel() : M1A(PTC8), M1B(PTC10), M2A(PTC9), M2B(PTC11), GrabA(PTA5), GrabB(PTC7), HejsA(PTA4), HejsB(PTC5)
+    {
+        init();    
+    }
+    
+    
+void Wheel::init() //Initialize the driver pwm to 150Hz
+    {
+        M1A.period(0.0066);
+        M2A.period(0.0066);
+        GrabA.period(0.0066);
+        HejsA.period(0.0066);
+        speed = 0.0;
+    }    
+    
+void Wheel::FW()
+    {
+        fw = 0.5+(0.5*speed); //forward lies in the upper 50% of the duty cycle
+        M1A.write(fw); //Set the duty cycle to the wanted percent, from speed variable
+        M2A.write(fw); // -//-
+        M1B = 0;
+        M2B = 0;
+        wait_ms(1);
+    }
+    
+void Wheel::BW()
+    {
+        bw = 0.5-(0.5*speed); //Backward lies within the lower 50% of the duty cycle
+        M1A.write(bw); //Set the duty cycle to the wanted percent, from speed variable
+        M2A.write(bw); // -//-
+        M1B = 1; 
+        M2B = 1;
+    }
+    
+void Wheel::right()
+    {
+        M1A.write(0.75); //Left side forward 50%
+        M2A.write(0.25); //Right side backwards 50%
+        M1B = 0;
+        M2B = 1;
+    }
+    
+void Wheel::left()
+    {
+        M1A.write(0.25); //Right side forward 50%
+        M2A.write(0.75); //Left side backwards 50%
+        M1B = 1;
+        M2B = 0;
+    }
+    
+void Wheel::stop()
+    {
+        M1A.write(0.0); //Pin A's set low
+        M2A.write(0.0);
+        M1B = 0;
+        M2B = 0;  //Pin B's set high
+        GrabA.write(0.0);
+        HejsA.write(0.0);
+        GrabB = 0;
+        HejsB = 0;
+    }
+    
+void Wheel::open()
+    {
+        GrabA.write(0.3);
+        GrabB = 1;
+        wait(0.1);
+        GrabA.write(0.0);
+        GrabB = 0;
+    }
+    
+void Wheel::close()
+    {
+        GrabA.write(0.8);
+        GrabB = 0;
+        wait(0.1);
+        GrabA.write(0.0);
+        GrabB = 0;
+    }
+    
+    void Wheel::hejs()
+    {
+        HejsA.write(0.7);
+        HejsB = 0;
+        wait(0.1);
+        HejsA.write(0.0);
+        HejsB = 0;
+        
+    }
+    
+void Wheel::saenk()
+    {
+        HejsA.write(0.25);
+        HejsB = 1;
+        wait(0.1);
+        HejsA.write(0.0);
+        HejsA = 0;
+        }
+        
+void Wheel::venSelv1()
+    {
+        M1A.write(0.9); //Set the duty cycle to the wanted percent, from speed variable
+        M2A.write(0.7); // -//-
+        M1B = 0;
+        M2B = 0;
+        wait_ms(10);
+        M2A.write(0.9);
+    }
+void Wheel::venSelv2()
+    {
+        M1A.write(0.7); //Set the duty cycle to the wanted percent, from speed variable
+        M2A.write(0.9); // -//-
+        M1B = 0;
+        M2B = 0;
+        wait_ms(10);
+        M1A.write(0.9);
+    }
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