hack_motor.cpp

00001 #include "mbed.h"
00002 #include "hack_motor.h"
00003 #include "PwmOut.h"
00004 
00005 Wheel::Wheel() : M1A(PTC8), M1B(PTC10), M2A(PTC9), M2B(PTC11)
00006     {
00007         init();    
00008     }
00009     
00010     
00011 void Wheel::init() //Initialize the driver pwm to 150Hz
00012     {
00013         M1A.period(0.0066);
00014         M2A.period(0.0066);
00015         speed = 0.0;
00016     }    
00017     
00018 void Wheel::FW()
00019     {
00020         fw = 0.5+(0.5*speed); //forward lies in the upper 50% of the duty cycle
00021         M1A.write(fw); //Set the duty cycle to the wanted percent, from speed variable
00022         M2A.write(fw); // -//-
00023         M1B = 0;
00024         M2B = 0;
00025         wait_ms(1);
00026     }
00027     
00028 void Wheel::BW()
00029     {
00030         bw = 0.5-(0.5*speed); //Backward lies within the lower 50% of the duty cycle
00031         M1A.write(bw); //Set the duty cycle to the wanted percent, from speed variable
00032         M2A.write(bw); // -//-
00033         M1B = 1; 
00034         M2B = 1;
00035     }
00036     
00037 void Wheel::right()
00038     {
00039         M1A.write(0.75); //Left side forward 50%
00040         M2A.write(0.25); //Right side backwards 50%
00041         M1B = 0;
00042         M2B = 1;
00043     }
00044     
00045 void Wheel::left()
00046     {
00047         M1A.write(0.25); //Right side forward 50%
00048         M2A.write(0.75); //Left side backwards 50%
00049         M1B = 1;
00050         M2B = 0;
00051     }
00052     
00053 void Wheel::stop()
00054     {
00055         M1A.write(0.0); //Pin A's set low
00056         M2A.write(0.0);
00057         M1B = 0;
00058         M2B = 0;  //Pin B's set high
00059     }