Mateusz Kociołek / Mbed 2 deprecated Motor_PWM_problem

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Dependencies:   mbed Motordriver

main.cpp

Committer:
kociol1994
Date:
2019-03-02
Revision:
0:d080961d29a3
Child:
1:00bee38b3f75

File content as of revision 0:d080961d29a3:

#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();
    */
    
    }
}