Diff: motors.h

Revision:

0:9fcb3bf5c231

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/motors.h	Sat Oct 01 12:57:23 2011 +0000
@@ -0,0 +1,56 @@
+
+void initmotor() {
+    PWMleft.period_ms(20);
+    PWMleft = 0.01;
+    PWMright.period_ms(20);
+    PWMright = 0.01;
+
+    PWMfront.period_ms(20);
+    PWMfront = 0.01;
+    PWMrear.period_ms(20);
+    PWMrear = 0.01;
+}
+
+bool leftM(float thrust) {
+    float output = (634 + 0.657 * thrust) / 10000;
+    if (output > 0.0910) {
+        PWMleft = 0.0910;
+        return true;
+    } else {
+        PWMleft = output;
+        return false;
+    }
+}
+
+bool rightM(float thrust) {
+    float output = (617 + 0.474 * thrust) / 10000;
+        if (output > 0.0822) {
+        PWMright = 0.0822;
+        return true;
+    } else {
+        PWMright = output;
+        return false;
+    }
+}
+
+bool frontM(float thrust) {
+    float output = (637 + 0.509 * thrust) / 10000;
+        if (output > 0.0880) {
+        PWMfront = 0.0800;
+        return true;
+    } else {
+        PWMfront = output;
+        return false;
+    }
+}
+
+bool rearM(float thrust) {
+    float output = (644 + 0.470 * thrust) / 10000;
+        if (output > 0.0908) {
+        PWMrear = 0.0908;
+        return true;
+    } else {
+        PWMrear = output;
+        return false;
+    }
+}
\ No newline at end of file