Luis Bernal
Xbeat beta code as published by Andre Moehl ( http://mbed.org/users/hoppel/ ) With a slightly modified serial port definition
drive.cpp@0:badcd0d61c7b, 2011-02-04 (annotated)
- Committer:
- n0p
- Date:
- Fri Feb 04 08:31:00 2011 +0000
- Revision:
- 0:badcd0d61c7b
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| n0p | 0:badcd0d61c7b | 1 | /* |
| n0p | 0:badcd0d61c7b | 2 | * |
| n0p | 0:badcd0d61c7b | 3 | * This program is free software; you can redistribute it and/or modify |
| n0p | 0:badcd0d61c7b | 4 | * it under the terms of the GNU General Public License as published by |
| n0p | 0:badcd0d61c7b | 5 | * the Free Software Foundation; either version 3 of the License, or |
| n0p | 0:badcd0d61c7b | 6 | * (at your option) any later version. |
| n0p | 0:badcd0d61c7b | 7 | * |
| n0p | 0:badcd0d61c7b | 8 | * This program is distributed in the hope that it will be useful, |
| n0p | 0:badcd0d61c7b | 9 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
| n0p | 0:badcd0d61c7b | 10 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| n0p | 0:badcd0d61c7b | 11 | * GNU General Public License for more details. |
| n0p | 0:badcd0d61c7b | 12 | * |
| n0p | 0:badcd0d61c7b | 13 | * You should have received a copy of the GNU General Public License |
| n0p | 0:badcd0d61c7b | 14 | * along with this program. If not, see <http://www.gnu.org/licenses/>. |
| n0p | 0:badcd0d61c7b | 15 | * |
| n0p | 0:badcd0d61c7b | 16 | * @file drive.cpp |
| n0p | 0:badcd0d61c7b | 17 | * @author Andre Moehl |
| n0p | 0:badcd0d61c7b | 18 | * @date 01/2011 |
| n0p | 0:badcd0d61c7b | 19 | * @brief Driver Class definition |
| n0p | 0:badcd0d61c7b | 20 | */ |
| n0p | 0:badcd0d61c7b | 21 | |
| n0p | 0:badcd0d61c7b | 22 | /*--- Includes ------------------------*/ |
| n0p | 0:badcd0d61c7b | 23 | #include "drive.h" |
| n0p | 0:badcd0d61c7b | 24 | |
| n0p | 0:badcd0d61c7b | 25 | /*--- Functions -----------------------*/ |
| n0p | 0:badcd0d61c7b | 26 | //Contructor |
| n0p | 0:badcd0d61c7b | 27 | Drive::Drive(PinName LeftPin,PinName RightPin): _Left(LeftPin, DUTYCYCLE), _Right(RightPin, DUTYCYCLE) |
| n0p | 0:badcd0d61c7b | 28 | { |
| n0p | 0:badcd0d61c7b | 29 | offset_L = 0; |
| n0p | 0:badcd0d61c7b | 30 | offset_R = 0; |
| n0p | 0:badcd0d61c7b | 31 | } |
| n0p | 0:badcd0d61c7b | 32 | |
| n0p | 0:badcd0d61c7b | 33 | /** |
| n0p | 0:badcd0d61c7b | 34 | * @ brief Sets the linear speed |
| n0p | 0:badcd0d61c7b | 35 | * @parameter speed value between -100 and 100 % */ |
| n0p | 0:badcd0d61c7b | 36 | void Drive::move(int left, int right) |
| n0p | 0:badcd0d61c7b | 37 | { |
| n0p | 0:badcd0d61c7b | 38 | if (left > 120) left = 120; |
| n0p | 0:badcd0d61c7b | 39 | if (left < -120) left = -120; |
| n0p | 0:badcd0d61c7b | 40 | if (right > 120) right = 120; |
| n0p | 0:badcd0d61c7b | 41 | if (right < -120) right = -120; |
| n0p | 0:badcd0d61c7b | 42 | |
| n0p | 0:badcd0d61c7b | 43 | _Left.speed(ZERO + offset_L + left*6); |
| n0p | 0:badcd0d61c7b | 44 | _Right.speed(ZERO - offset_R - right*6); |
| n0p | 0:badcd0d61c7b | 45 | } |
| n0p | 0:badcd0d61c7b | 46 | |
| n0p | 0:badcd0d61c7b | 47 | /** |
| n0p | 0:badcd0d61c7b | 48 | * @brief sets the motor zero offset |
| n0p | 0:badcd0d61c7b | 49 | * @parameter left left motor offset |
| n0p | 0:badcd0d61c7b | 50 | * @parameter right right motor offset |
| n0p | 0:badcd0d61c7b | 51 | */ |
| n0p | 0:badcd0d61c7b | 52 | void Drive::setoffset(int left, int right) |
| n0p | 0:badcd0d61c7b | 53 | { |
| n0p | 0:badcd0d61c7b | 54 | offset_L = left; |
| n0p | 0:badcd0d61c7b | 55 | offset_R = right; |
| n0p | 0:badcd0d61c7b | 56 | } |
| n0p | 0:badcd0d61c7b | 57 |