Christopher Hasler
test script for motordriver. correct results are in the comments.
Dependencies: mbed Motordriver
Revision 0:751b3c43eaf5, committed 2010-11-25
- Comitter:
- littlexc
- Date:
- Thu Nov 25 14:53:28 2010 +0000
- Commit message:
Changed in this revision
diff -r 000000000000 -r 751b3c43eaf5 Motordriver.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Motordriver.lib Thu Nov 25 14:53:28 2010 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/littlexc/code/Motordriver/#3110b9209d3c
diff -r 000000000000 -r 751b3c43eaf5 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Nov 25 14:53:28 2010 +0000
@@ -0,0 +1,62 @@
+#include <mbed.h>
+#include <motordriver.h>
+//pc interface
+Serial pc(USBTX, USBRX); // tx, rx
+//declare motors
+Motor A(p22, p6, p5, 1); // pwm, fwd, rev, can break
+Motor B(p21, p7, p8, 1); // pwm, fwd, rev, can break
+//debugging stuff, switches a new led on after each sqeuence.
+DigitalOut led1 (LED1);
+DigitalOut led2 (LED2);
+DigitalOut led3 (LED3);
+DigitalOut led4 (LED4);
+
+int main() {
+ pc.printf("motor A, reverse to foward \n");
+ pc.printf("motor B, reverse to foward \n\n");
+
+ pc.printf("state motor A, %f, state motor B, %f \n\n", A.state(), B.state());
+ //should be 2.
+ led1=1;
+
+ for (float s=-1.0; s < 1.0 ; s += 0.01) {//sweep from reverse to foward
+ pc.printf("A %f %f \n",A.speed(s), s);
+ pc.printf("B %f %f \n\n",B.speed(s), s);
+ //should follow the output of the for loop
+ wait(0.02);
+ }
+ pc.printf("state motor A, %f, state motor B, %f \n\n", A.state(), B.state());
+ //should be 0.99 0.99.
+
+ led2=1;
+
+ pc.printf("\nmotor A, braking \n");
+ pc.printf("motor B, braking \n\n");
+
+ pc.printf("A %f 0.5 \n",A.stop(0.5));
+ pc.printf("B %f 0.5 \n",B.stop(0.5));
+
+ pc.printf("\nstate motor A, %f, state motor B, %f \n\n", A.state(), B.state());
+ //should be -2 -2.
+
+ for (float s=-1.0; s < 1.0 ; s += 0.01) {//sweep motors in opposite directions
+ pc.printf("A %f %f \n",A.speed(-s), s);
+ pc.printf("B %f %f \n\n",B.speed(s), s);
+ //should follow the output of the for loop
+ wait(0.02);
+ }
+ pc.printf("state motor A, %f, state motor B, %f \n\n", A.state(), B.state());
+ //should be -1 0.99.
+
+ led3=1;
+ wait(1);
+
+ pc.printf("motor A, coasting \n");
+ pc.printf("motor B, coasting \n\n");
+
+ A.coast();
+ B.coast();
+ pc.printf("state motor A, %f, state motor B, %f \n end\n end\n", A.state(), B.state());
+ //should be 2 2.
+ led4=1;
+}
\ No newline at end of file
diff -r 000000000000 -r 751b3c43eaf5 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Nov 25 14:53:28 2010 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/e2ac27c8e93e