quadcopter cufe / Mbed 2 deprecated FollowWall2

Go to goal robot with follow wall algo

Dependencies:   mbed

Motor/Motor.cpp@0:efef62b55c86, 2014-04-08 (annotated)

Committer:
khaledelmadawi
Date:
Tue Apr 08 13:21:17 2014 +0000
Revision:
0:efef62b55c86
Follow wall

Who changed what in which revision?

UserRevisionLine numberNew contents of line
khaledelmadawi 0:efef62b55c86 1 /* mbed simple H-bridge motor controller
khaledelmadawi 0:efef62b55c86 2 * Copyright (c) 2007-2010, sford
khaledelmadawi 0:efef62b55c86 3 *
khaledelmadawi 0:efef62b55c86 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
khaledelmadawi 0:efef62b55c86 5 * of this software and associated documentation files (the "Software"), to deal
khaledelmadawi 0:efef62b55c86 6 * in the Software without restriction, including without limitation the rights
khaledelmadawi 0:efef62b55c86 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
khaledelmadawi 0:efef62b55c86 8 * copies of the Software, and to permit persons to whom the Software is
khaledelmadawi 0:efef62b55c86 9 * furnished to do so, subject to the following conditions:
khaledelmadawi 0:efef62b55c86 10 *
khaledelmadawi 0:efef62b55c86 11 * The above copyright notice and this permission notice shall be included in
khaledelmadawi 0:efef62b55c86 12 * all copies or substantial portions of the Software.
khaledelmadawi 0:efef62b55c86 13 *
khaledelmadawi 0:efef62b55c86 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
khaledelmadawi 0:efef62b55c86 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
khaledelmadawi 0:efef62b55c86 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
khaledelmadawi 0:efef62b55c86 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
khaledelmadawi 0:efef62b55c86 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
khaledelmadawi 0:efef62b55c86 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
khaledelmadawi 0:efef62b55c86 20 * THE SOFTWARE.
khaledelmadawi 0:efef62b55c86 21 */
khaledelmadawi 0:efef62b55c86 22
khaledelmadawi 0:efef62b55c86 23 #include "Motor.h"
khaledelmadawi 0:efef62b55c86 24
khaledelmadawi 0:efef62b55c86 25 Motor::Motor(PinName pwm, PinName fwd, PinName rev):
khaledelmadawi 0:efef62b55c86 26 _pwm(pwm), _fwd(fwd), _rev(rev) {
khaledelmadawi 0:efef62b55c86 27
khaledelmadawi 0:efef62b55c86 28 // Set initial condition of PWM
khaledelmadawi 0:efef62b55c86 29 _pwm.period(0.001);
khaledelmadawi 0:efef62b55c86 30 _pwm = 0;
khaledelmadawi 0:efef62b55c86 31
khaledelmadawi 0:efef62b55c86 32 // Initial condition of output enables
khaledelmadawi 0:efef62b55c86 33 _fwd = 0;
khaledelmadawi 0:efef62b55c86 34 _rev = 0;
khaledelmadawi 0:efef62b55c86 35 }
khaledelmadawi 0:efef62b55c86 36
khaledelmadawi 0:efef62b55c86 37 void Motor::speed(float speed) {
khaledelmadawi 0:efef62b55c86 38 _fwd = (speed > 0.0);
khaledelmadawi 0:efef62b55c86 39 _rev = (speed < 0.0);
khaledelmadawi 0:efef62b55c86 40 _pwm = abs(speed);
khaledelmadawi 0:efef62b55c86 41 }
khaledelmadawi 0:efef62b55c86 42
khaledelmadawi 0:efef62b55c86 43 void Motor::period(float period){
khaledelmadawi 0:efef62b55c86 44
khaledelmadawi 0:efef62b55c86 45 _pwm.period(period);
khaledelmadawi 0:efef62b55c86 46
khaledelmadawi 0:efef62b55c86 47 }
khaledelmadawi 0:efef62b55c86 48
khaledelmadawi 0:efef62b55c86 49 void Motor::brake(int highLow){
khaledelmadawi 0:efef62b55c86 50
khaledelmadawi 0:efef62b55c86 51 if(highLow == BRAKE_HIGH){
khaledelmadawi 0:efef62b55c86 52 _fwd = 1;
khaledelmadawi 0:efef62b55c86 53 _rev = 1;
khaledelmadawi 0:efef62b55c86 54 }
khaledelmadawi 0:efef62b55c86 55 else if(highLow == BRAKE_LOW){
khaledelmadawi 0:efef62b55c86 56 _fwd = 0;
khaledelmadawi 0:efef62b55c86 57 _rev = 0;
khaledelmadawi 0:efef62b55c86 58 }
khaledelmadawi 0:efef62b55c86 59
khaledelmadawi 0:efef62b55c86 60 }