Luiz Fernando Nobre / Mbed 2 deprecated Sumo_v2

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Dependencies:   RadioIn Servo mbed

main.cpp@0:b59cb9ef5b5b, 2013-04-13 (annotated)

Committer:
lfsantarelli
Date:
Sat Apr 13 01:00:26 2013 +0000
Revision:
0:b59cb9ef5b5b
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
lfsantarelli 0:b59cb9ef5b5b 1 #include "Servo.h"
lfsantarelli 0:b59cb9ef5b5b 2 #include "mbed.h"
lfsantarelli 0:b59cb9ef5b5b 3 #include "RadioIn.h"
lfsantarelli 0:b59cb9ef5b5b 4 #include "Config.h"
lfsantarelli 0:b59cb9ef5b5b 5
lfsantarelli 0:b59cb9ef5b5b 6 void Drive(float m_esq, float m_dir){ // Valores de -1 a 1 em cada motor
lfsantarelli 0:b59cb9ef5b5b 7 saber1.write((m_esq/2)+0.5);
lfsantarelli 0:b59cb9ef5b5b 8 saber2.write((m_esq/2)+0.5);
lfsantarelli 0:b59cb9ef5b5b 9 }
lfsantarelli 0:b59cb9ef5b5b 10
lfsantarelli 0:b59cb9ef5b5b 11 void DriveRC(){
lfsantarelli 0:b59cb9ef5b5b 12 float trim=0; // Trim para casar o 0 da sabertooth com o PWM do Mbed
lfsantarelli 0:b59cb9ef5b5b 13 radio.Update();
lfsantarelli 0:b59cb9ef5b5b 14 saber1.write((radio.chan1+1)/2+trim);
lfsantarelli 0:b59cb9ef5b5b 15 saber2.write((radio.chan2+1)/2+trim);
lfsantarelli 0:b59cb9ef5b5b 16 }
lfsantarelli 0:b59cb9ef5b5b 17
lfsantarelli 0:b59cb9ef5b5b 18
lfsantarelli 0:b59cb9ef5b5b 19 float ReadRadio(int chan){ // Retorna o valor do canal entre -1 e 1
lfsantarelli 0:b59cb9ef5b5b 20 radio.Update();
lfsantarelli 0:b59cb9ef5b5b 21 if (chan==1){return radio.chan1;}
lfsantarelli 0:b59cb9ef5b5b 22 if (chan==2){return radio.chan2;}
lfsantarelli 0:b59cb9ef5b5b 23 if (chan==3){return radio.chan3;}
lfsantarelli 0:b59cb9ef5b5b 24 else return 0;
lfsantarelli 0:b59cb9ef5b5b 25 }
lfsantarelli 0:b59cb9ef5b5b 26
lfsantarelli 0:b59cb9ef5b5b 27
lfsantarelli 0:b59cb9ef5b5b 28 // Melhor usar o V-Tail Mixer e fazer o mix via hardware
lfsantarelli 0:b59cb9ef5b5b 29 void DriveMixedRC(){
lfsantarelli 0:b59cb9ef5b5b 30 radio.Update();
lfsantarelli 0:b59cb9ef5b5b 31 saber1.write(((radio.chan1+radio.chan2)+1)/2);
lfsantarelli 0:b59cb9ef5b5b 32 saber2.write(((radio.chan1-radio.chan2)+1)/2);
lfsantarelli 0:b59cb9ef5b5b 33 }
lfsantarelli 0:b59cb9ef5b5b 34
lfsantarelli 0:b59cb9ef5b5b 35 int main()
lfsantarelli 0:b59cb9ef5b5b 36 {
lfsantarelli 0:b59cb9ef5b5b 37 saber1.period_us(5);
lfsantarelli 0:b59cb9ef5b5b 38 saber2.period_us(5);
lfsantarelli 0:b59cb9ef5b5b 39 radio.Init();
lfsantarelli 0:b59cb9ef5b5b 40 while(1){
lfsantarelli 0:b59cb9ef5b5b 41 DriveMixedRC();
lfsantarelli 0:b59cb9ef5b5b 42 }
lfsantarelli 0:b59cb9ef5b5b 43 }