Christopher Hasler / Mbed 2 deprecated motordrivertestprogram

test script for motordriver. correct results are in the comments.

Dependencies:   mbed Motordriver

main.cpp@0:751b3c43eaf5, 2010-11-25 (annotated)

Committer:
littlexc
Date:
Thu Nov 25 14:53:28 2010 +0000
Revision:
0:751b3c43eaf5

        

        
Who changed what in which revision?

        

            
                
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#include <mbed.h>





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#include <motordriver.h>





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//pc interface





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Serial pc(USBTX, USBRX); // tx, rx





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//declare motors





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Motor A(p22, p6, p5, 1); // pwm, fwd, rev, can break





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Motor B(p21, p7, p8, 1); // pwm, fwd, rev, can break





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//debugging stuff, switches a new led on after each sqeuence.





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DigitalOut led1 (LED1);





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DigitalOut led2 (LED2);





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DigitalOut led3 (LED3);





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DigitalOut led4 (LED4);





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int main() {





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    pc.printf("motor A, reverse to foward \n");





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    pc.printf("motor B, reverse to foward \n\n");





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    pc.printf("state motor A, %f, state motor B, %f \n\n", A.state(), B.state());





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    //should be 2.





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    led1=1;





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    for (float s=-1.0; s < 1.0 ; s += 0.01) {//sweep from reverse to foward





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        pc.printf("A %f %f \n",A.speed(s), s);





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        pc.printf("B %f %f \n\n",B.speed(s), s);





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        //should follow the output of the for loop





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        wait(0.02);





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    }





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    pc.printf("state motor A, %f, state motor B, %f \n\n", A.state(), B.state());





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    //should be 0.99 0.99.





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    led2=1;





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    pc.printf("\nmotor A, braking \n");





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    pc.printf("motor B, braking \n\n");





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    pc.printf("A %f 0.5 \n",A.stop(0.5));





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    pc.printf("B %f 0.5 \n",B.stop(0.5));





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    pc.printf("\nstate motor A, %f, state motor B, %f \n\n", A.state(), B.state());





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    //should be -2 -2.





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        for (float s=-1.0; s < 1.0 ; s += 0.01) {//sweep motors in opposite directions





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        pc.printf("A %f %f \n",A.speed(-s), s);





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        pc.printf("B %f %f \n\n",B.speed(s), s);





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        //should follow the output of the for loop





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        wait(0.02);





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    }





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    pc.printf("state motor A, %f, state motor B, %f \n\n", A.state(), B.state());





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    //should be -1 0.99.





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    led3=1;





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    wait(1);





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    pc.printf("motor A, coasting \n");





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    pc.printf("motor B, coasting \n\n");





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    A.coast();





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    B.coast();





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    pc.printf("state motor A, %f, state motor B, %f \n end\n end\n", A.state(), B.state());





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    //should be 2 2.





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    led4=1;





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}