Mark Vandermeulen / FYDP_Final

Code for our FYDP -only one IMU works right now -RTOS is working

Dependencies:   mbed

motors/motors.cpp@0:964eb6a2ef00, 2015-03-18 (annotated)

Committer:
majik
Date:
Wed Mar 18 22:23:48 2015 +0000
Revision:
0:964eb6a2ef00
This is our FYDP code, but only one IMU works with the RTOS.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
majik 0:964eb6a2ef00 1 #include "motors.h"
majik 0:964eb6a2ef00 2
majik 0:964eb6a2ef00 3 Motors::Motors(TB6612 * L, TB6612 * R, PinName STBY):
majik 0:964eb6a2ef00 4 Left(L), Right(R), enable(STBY)
majik 0:964eb6a2ef00 5 {
majik 0:964eb6a2ef00 6 enable = 1;
majik 0:964eb6a2ef00 7 }
majik 0:964eb6a2ef00 8
majik 0:964eb6a2ef00 9 void Motors::flip()
majik 0:964eb6a2ef00 10 {
majik 0:964eb6a2ef00 11 TB6612 * temp = Left;
majik 0:964eb6a2ef00 12 Left = Right;
majik 0:964eb6a2ef00 13 Right = temp;
majik 0:964eb6a2ef00 14
majik 0:964eb6a2ef00 15 Left->scale *= -1;
majik 0:964eb6a2ef00 16 Right->scale *= -1;
majik 0:964eb6a2ef00 17 }
majik 0:964eb6a2ef00 18 void Motors::reverse(bool m)
majik 0:964eb6a2ef00 19 {
majik 0:964eb6a2ef00 20 if(m)
majik 0:964eb6a2ef00 21 Right->scale *= -1; //reverse right motor
majik 0:964eb6a2ef00 22 else
majik 0:964eb6a2ef00 23 Left->scale *= -1; //reverse left motor
majik 0:964eb6a2ef00 24 }
majik 0:964eb6a2ef00 25
majik 0:964eb6a2ef00 26 //TODO: write in a function that automatically sets the motors to be oriented properly. Use the
majik 0:964eb6a2ef00 27 //gyroscopes and accelerometer to do this.