Philip Pollheimer
Library
Revision 1:6af83dcf6691, committed 2016-01-25
- Comitter:
- philip_17
- Date:
- Mon Jan 25 11:37:16 2016 +0000
- Parent:
- 0:04250620f3d9
- Commit message:
- Bertl
Changed in this revision
--- a/Pwm.cpp Mon Jan 18 11:01:29 2016 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,89 +0,0 @@
-#include "mbed.h"
-#include "Pwm.h"
-// Philip Pollheimer, 23.12.2015
-// Controlling the engines of the BERTL14 using PWM
-
-// Declaration of outputs
-
-DigitalOut ML_R(P1_0); // IN1 EP10, MG1A => MG1 Motor-Pin 2
-DigitalOut ML_F(P1_1); // IN2 EP10, MG1B => MG1 Motor-Pin 1
-PwmOut ML_EN(P1_15); // EN1, P34
-
-DigitalOut MR_F(P1_3); // IN4 EP13, MG2A => MG2 Motor-Pin 2
-DigitalOut MR_R(P1_4); // IN3 EP14, MG2B => MG2 Motor-Pin 1
-PwmOut MR_EN(P0_21); // EN2, P36
-
-
-void bertl_motor(int links, int rechts) // subprogramm
-{
- float v_motor_rechts; // v => velocity
- float v_motor_links;
-
- // if-conditions when parameters are bigger than 0 then the first formula will be used.
- // otherwise the otherone. Thats because if the parameter is negative the value will also be negative.
- // Therefore we write -255, the minus becomes a plus (-(-5) => +5)
-
- if(links > 0) {
- v_motor_links = links / 255.0; // Formula for the PWM. The variable v_motor_[name] is always < 1, due to the PWM function.
- }
- if(rechts > 0){
- v_motor_rechts = rechts / 255.0;
- } // In PWM 1 equals 5V and 0 equals 0V. The formula calculates a value from 0 to 1 (which is converted to Volt)
- // and with this value the engine will be supplied.
- if(links < 0) {
- v_motor_links = links / -255.0;
- }
- if(rechts < 0){
- v_motor_rechts = rechts / -255.0;
-
- }
-
-
- // if-conditions for positive parameters (when the transfered parameters are positive, the engine turns forward)
- if(links > 0 && rechts < links) {
-
- ML_EN = v_motor_links;
- MR_EN = v_motor_rechts;
- if(rechts < 0)
- {
- ML_F = MR_R = 1;
- wait(1.0);
- ML_F = MR_R = 0;
- }
- ML_F = MR_F = 1;
- wait(4.0);
- ML_F = MR_F = 0;
- }
- if(rechts > 0 && rechts > links) {
-
- ML_EN = v_motor_links;
- MR_EN = v_motor_rechts;
- if(links < 0)
- {
- ML_R = MR_F = 1;
- wait(1.0);
- ML_R = MR_F = 0;
-
- }
- ML_F = MR_F = 1;
- wait(4.0);
- ML_F = MR_F = 0;
- }
- // if-conditions for negative parameters(when the transfered parameters are negative, the engine turns reverse)
- if(links < 0 && rechts > links) {
-
- ML_EN = v_motor_links;
- MR_EN = v_motor_rechts;
- ML_R = MR_R = 1;
- wait(4.0);
- ML_R = MR_R = 0;
- }
- if(rechts < 0 && rechts < links) {
-
- ML_EN = v_motor_links;
- MR_EN = v_motor_rechts;
- ML_R = MR_R = 1;
- wait(4.0);
- ML_R = MR_R = 0;
- }
-}
--- a/Pwm.h Mon Jan 18 11:01:29 2016 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,2 +0,0 @@ - -void bertl_motor(int links, int rechts); \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/bertl14.cpp Mon Jan 25 11:37:16 2016 +0000
@@ -0,0 +1,89 @@
+#include "mbed.h"
+#include "Pwm.h"
+// Philip Pollheimer, 23.12.2015
+// Controlling the engines of the BERTL14 using PWM
+
+// Declaration of outputs
+
+DigitalOut ML_R(P1_0); // IN1 EP10, MG1A => MG1 Motor-Pin 2
+DigitalOut ML_F(P1_1); // IN2 EP10, MG1B => MG1 Motor-Pin 1
+PwmOut ML_EN(P1_15); // EN1, P34
+
+DigitalOut MR_F(P1_3); // IN4 EP13, MG2A => MG2 Motor-Pin 2
+DigitalOut MR_R(P1_4); // IN3 EP14, MG2B => MG2 Motor-Pin 1
+PwmOut MR_EN(P0_21); // EN2, P36
+
+
+void bertl_motor(int links, int rechts) // subprogramm
+{
+ float v_motor_rechts; // v => velocity
+ float v_motor_links;
+
+ // if-conditions when parameters are bigger than 0 then the first formula will be used.
+ // otherwise the otherone. Thats because if the parameter is negative the value will also be negative.
+ // Therefore we write -255, the minus becomes a plus (-(-5) => +5)
+
+ if(links > 0) {
+ v_motor_links = links / 255.0; // Formula for the PWM. The variable v_motor_[name] is always < 1, due to the PWM function.
+ }
+ if(rechts > 0){
+ v_motor_rechts = rechts / 255.0;
+ } // In PWM 1 equals 5V and 0 equals 0V. The formula calculates a value from 0 to 1 (which is converted to Volt)
+ // and with this value the engine will be supplied.
+ if(links < 0) {
+ v_motor_links = links / -255.0;
+ }
+ if(rechts < 0){
+ v_motor_rechts = rechts / -255.0;
+
+ }
+
+
+ // if-conditions for positive parameters (when the transfered parameters are positive, the engine turns forward)
+ if(links > 0 && rechts < links) {
+
+ ML_EN = v_motor_links;
+ MR_EN = v_motor_rechts;
+ if(rechts < 0)
+ {
+ ML_F = MR_R = 1;
+ wait(1.0);
+ ML_F = MR_R = 0;
+ }
+ ML_F = MR_F = 1;
+ wait(4.0);
+ ML_F = MR_F = 0;
+ }
+ if(rechts > 0 && rechts > links) {
+
+ ML_EN = v_motor_links;
+ MR_EN = v_motor_rechts;
+ if(links < 0)
+ {
+ ML_R = MR_F = 1;
+ wait(1.0);
+ ML_R = MR_F = 0;
+
+ }
+ ML_F = MR_F = 1;
+ wait(4.0);
+ ML_F = MR_F = 0;
+ }
+ // if-conditions for negative parameters(when the transfered parameters are negative, the engine turns reverse)
+ if(links < 0 && rechts > links) {
+
+ ML_EN = v_motor_links;
+ MR_EN = v_motor_rechts;
+ ML_R = MR_R = 1;
+ wait(4.0);
+ ML_R = MR_R = 0;
+ }
+ if(rechts < 0 && rechts < links) {
+
+ ML_EN = v_motor_links;
+ MR_EN = v_motor_rechts;
+ ML_R = MR_R = 1;
+ wait(4.0);
+ ML_R = MR_R = 0;
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/bertl14.h Mon Jan 25 11:37:16 2016 +0000 @@ -0,0 +1,2 @@ + +void bertl_motor(int links, int rechts); \ No newline at end of file