Mario Bambagini
Program for testing motion boards (double motor controller)
Program to test motion boards (double motor controller).
The mbed board reads from a joystick and then sends the commands to the motor board (l293d), which lets the small caterpillar go ahead, go back and turn.
Diff: main.cpp
- Revision:
- 0:5307ae36f268
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sat Jun 14 21:56:12 2014 +0000
@@ -0,0 +1,26 @@
+#include "mbed.h"
+#include "dc_motor.hpp"
+
+int main ()
+{
+ AnalogIn vert(p20);
+ AnalogIn horz(p19);
+ DC_motor m_sx(p21, p22);
+ DC_motor m_dx(p23, p24);
+
+ while(1) {
+ wait(0.2);
+ float v = vert.read();
+ float h = horz.read();
+ float speed_sx = (v-0.5)*2.0;
+ if (h>0.5)
+ speed_sx *= (1.0-(h-0.5)*2.0);
+ float speed_dx = (v-0.5)*2.0;
+ if (h<0.5)
+ speed_dx *= ((h+0.5)*2.0-1.0);
+ m_sx.speed(speed_sx);
+ m_dx.speed(speed_dx);
+// printf("VERT(%f), HORZ(%f), sx(%f), dx(%f)\n\r",
+// vert.read(), horz.read(), speed_sx, speed_dx);
+ }
+}