Mateusz Kociołek / Mbed 2 deprecated Motor_PWM_problem

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Dependencies:   mbed Motordriver

main.cpp@0:d080961d29a3, 2019-03-02 (annotated)

Committer:
kociol1994
Date:
Sat Mar 02 12:00:43 2019 +0000
Revision:
0:d080961d29a3
Child:
1:00bee38b3f75
habababa

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kociol1994 0:d080961d29a3 1 #include "mbed.h"
kociol1994 0:d080961d29a3 2 #include "motordriver.h"
kociol1994 0:d080961d29a3 3 #include "Map.hpp"
kociol1994 0:d080961d29a3 4
kociol1994 0:d080961d29a3 5
kociol1994 0:d080961d29a3 6 float X0, X1, X;
kociol1994 0:d080961d29a3 7 float Y0, Y1, Y;
kociol1994 0:d080961d29a3 8
kociol1994 0:d080961d29a3 9
kociol1994 0:d080961d29a3 10
kociol1994 0:d080961d29a3 11 Motor A(D6, D4, D7, 1); // pwm, fwd, rev, can brake
kociol1994 0:d080961d29a3 12 Motor B(D5, D2, D3, 1); // pwm, fwd, rev, can brake
kociol1994 0:d080961d29a3 13
kociol1994 0:d080961d29a3 14 AnalogIn joy_X(A0);
kociol1994 0:d080961d29a3 15 AnalogIn joy_Y(A1);
kociol1994 0:d080961d29a3 16
kociol1994 0:d080961d29a3 17 Serial pc(SERIAL_TX, SERIAL_RX);
kociol1994 0:d080961d29a3 18
kociol1994 0:d080961d29a3 19
kociol1994 0:d080961d29a3 20 int main() {
kociol1994 0:d080961d29a3 21 while(1){
kociol1994 0:d080961d29a3 22
kociol1994 0:d080961d29a3 23 X0 = joy_X.read();
kociol1994 0:d080961d29a3 24 Y0 = joy_Y.read();
kociol1994 0:d080961d29a3 25
kociol1994 0:d080961d29a3 26 Map(0, 0.5, -1, 0);
kociol1994 0:d080961d29a3 27 Map(0.5, 1, 0, 1);
kociol1994 0:d080961d29a3 28 X = X1;
kociol1994 0:d080961d29a3 29
kociol1994 0:d080961d29a3 30 Map(0, 0.5, -1, 0);
kociol1994 0:d080961d29a3 31 Map(0.5, 1, 0, 1);
kociol1994 0:d080961d29a3 32 Y = Y1;
kociol1994 0:d080961d29a3 33
kociol1994 0:d080961d29a3 34 printf("Pomiar: ");
kociol1994 0:d080961d29a3 35 printf("measure X = %.0f ", X);
kociol1994 0:d080961d29a3 36 printf("measure Y = %.0f \r\n", Y);
kociol1994 0:d080961d29a3 37 wait_ms(50);
kociol1994 0:d080961d29a3 38
kociol1994 0:d080961d29a3 39
kociol1994 0:d080961d29a3 40 if(X0==1) {
kociol1994 0:d080961d29a3 41 A.speed(Y0);
kociol1994 0:d080961d29a3 42 B.speed(Y0);
kociol1994 0:d080961d29a3 43 }else{
kociol1994 0:d080961d29a3 44
kociol1994 0:d080961d29a3 45 A.stop(1);
kociol1994 0:d080961d29a3 46 B.stop(1);
kociol1994 0:d080961d29a3 47 }
kociol1994 0:d080961d29a3 48 /*
kociol1994 0:d080961d29a3 49 wait(1);
kociol1994 0:d080961d29a3 50 A.coast();
kociol1994 0:d080961d29a3 51 B.coast();
kociol1994 0:d080961d29a3 52 */
kociol1994 0:d080961d29a3 53
kociol1994 0:d080961d29a3 54 }
kociol1994 0:d080961d29a3 55 }