Mario Bambagini / Mbed 2 deprecated caterpillar

Program for testing motion boards (double motor controller)

Dependencies:   mbed

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.

/media/uploads/mariob/2014-06-14_23.36.59.jpg /media/uploads/mariob/2014-06-14_23.36.46.jpg

main.cpp@0:5307ae36f268, 2014-06-14 (annotated)

Committer:
mariob
Date:
Sat Jun 14 21:56:12 2014 +0000
Revision:
0:5307ae36f268
example to test motion boards

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mariob 0:5307ae36f268 1 #include "mbed.h"
mariob 0:5307ae36f268 2 #include "dc_motor.hpp"
mariob 0:5307ae36f268 3
mariob 0:5307ae36f268 4 int main ()
mariob 0:5307ae36f268 5 {
mariob 0:5307ae36f268 6 AnalogIn vert(p20);
mariob 0:5307ae36f268 7 AnalogIn horz(p19);
mariob 0:5307ae36f268 8 DC_motor m_sx(p21, p22);
mariob 0:5307ae36f268 9 DC_motor m_dx(p23, p24);
mariob 0:5307ae36f268 10
mariob 0:5307ae36f268 11 while(1) {
mariob 0:5307ae36f268 12 wait(0.2);
mariob 0:5307ae36f268 13 float v = vert.read();
mariob 0:5307ae36f268 14 float h = horz.read();
mariob 0:5307ae36f268 15 float speed_sx = (v-0.5)*2.0;
mariob 0:5307ae36f268 16 if (h>0.5)
mariob 0:5307ae36f268 17 speed_sx *= (1.0-(h-0.5)*2.0);
mariob 0:5307ae36f268 18 float speed_dx = (v-0.5)*2.0;
mariob 0:5307ae36f268 19 if (h<0.5)
mariob 0:5307ae36f268 20 speed_dx *= ((h+0.5)*2.0-1.0);
mariob 0:5307ae36f268 21 m_sx.speed(speed_sx);
mariob 0:5307ae36f268 22 m_dx.speed(speed_dx);
mariob 0:5307ae36f268 23 // printf("VERT(%f), HORZ(%f), sx(%f), dx(%f)\n\r",
mariob 0:5307ae36f268 24 // vert.read(), horz.read(), speed_sx, speed_dx);
mariob 0:5307ae36f268 25 }
mariob 0:5307ae36f268 26 }