Mateusz Kociołek
/
Motor_PWM_problem
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Dependencies: mbed Motordriver
Diff: main.cpp
- Revision:
- 0:d080961d29a3
- Child:
- 1:00bee38b3f75
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sat Mar 02 12:00:43 2019 +0000
@@ -0,0 +1,55 @@
+#include "mbed.h"
+#include "motordriver.h"
+#include "Map.hpp"
+
+
+ float X0, X1, X;
+ float Y0, Y1, Y;
+
+
+
+Motor A(D6, D4, D7, 1); // pwm, fwd, rev, can brake
+Motor B(D5, D2, D3, 1); // pwm, fwd, rev, can brake
+
+AnalogIn joy_X(A0);
+AnalogIn joy_Y(A1);
+
+Serial pc(SERIAL_TX, SERIAL_RX);
+
+
+int main() {
+ while(1){
+
+ X0 = joy_X.read();
+ Y0 = joy_Y.read();
+
+ Map(0, 0.5, -1, 0);
+ Map(0.5, 1, 0, 1);
+ X = X1;
+
+ Map(0, 0.5, -1, 0);
+ Map(0.5, 1, 0, 1);
+ Y = Y1;
+
+ printf("Pomiar: ");
+ printf("measure X = %.0f ", X);
+ printf("measure Y = %.0f \r\n", Y);
+ wait_ms(50);
+
+
+ if(X0==1) {
+ A.speed(Y0);
+ B.speed(Y0);
+ }else{
+
+ A.stop(1);
+ B.stop(1);
+ }
+ /*
+ wait(1);
+ A.coast();
+ B.coast();
+ */
+
+ }
+}
\ No newline at end of file