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Dependencies:   mbed QEI

src/motors.cpp@3:35deb5c21b33, 2018-11-26 (annotated)

Committer:
rwgriffithv
Date:
Mon Nov 26 23:50:58 2018 +0000
Revision:
3:35deb5c21b33
Parent:
0:88c60458332e 
pid controller updated

Who changed what in which revision?

UserRevisionLine numberNew contents of line
rwgriffithv 0:88c60458332e 1 #include "motors.h"
rwgriffithv 0:88c60458332e 2 #include "mbed.h"
rwgriffithv 0:88c60458332e 3 #include "pins.h"
rwgriffithv 0:88c60458332e 4
rwgriffithv 0:88c60458332e 5 PwmOut m_RF(MOTOR_RF);
rwgriffithv 0:88c60458332e 6 PwmOut m_RB(MOTOR_RB);
rwgriffithv 0:88c60458332e 7 PwmOut m_LF(MOTOR_LF);
rwgriffithv 0:88c60458332e 8 PwmOut m_LB(MOTOR_LB);
rwgriffithv 0:88c60458332e 9
rwgriffithv 0:88c60458332e 10 /***
rwgriffithv 0:88c60458332e 11 * Assignment 2
rwgriffithv 0:88c60458332e 12 *
rwgriffithv 0:88c60458332e 13 * Add logic to set the PWM based on postiive/negative number.
rwgriffithv 0:88c60458332e 14 ***/
rwgriffithv 0:88c60458332e 15
rwgriffithv 0:88c60458332e 16 void Motors::setMotorPwm(int motor, float pwm) {
rwgriffithv 0:88c60458332e 17 if (abs(pwm) > MAX_SPEED) {
rwgriffithv 0:88c60458332e 18 if (pwm > 0) pwm = MAX_SPEED;
rwgriffithv 0:88c60458332e 19 else if (pwm < 0) pwm = -MAX_SPEED;
rwgriffithv 0:88c60458332e 20 }
rwgriffithv 0:88c60458332e 21 /*
rwgriffithv 0:88c60458332e 22 else if (ABS_PWM < MIN_SPEED) {
rwgriffithv 0:88c60458332e 23 if (pwm > 0) pwm = MIN_SPEED;
rwgriffithv 0:88c60458332e 24 else if (pwm < 0) pwm = -MIN_SPEED;
rwgriffithv 0:88c60458332e 25 }
rwgriffithv 0:88c60458332e 26 */
rwgriffithv 0:88c60458332e 27
rwgriffithv 0:88c60458332e 28 // TODO
rwgriffithv 0:88c60458332e 29 // Use the "PwmOut" objects defined above
rwgriffithv 0:88c60458332e 30 // Hint: Stop your backwards/forward motor before going forward/backwards.
rwgriffithv 0:88c60458332e 31 if (pwm >= 0) {
rwgriffithv 0:88c60458332e 32 if (motor == RIGHT_MOTOR) {
rwgriffithv 0:88c60458332e 33 m_RF.period_us(PERIOD_US);
rwgriffithv 0:88c60458332e 34 m_RB.pulsewidth_us(0);
rwgriffithv 0:88c60458332e 35 m_RF.pulsewidth_us((int)PERIOD_US*pwm);
rwgriffithv 0:88c60458332e 36 } else {
rwgriffithv 0:88c60458332e 37 m_LF.period_us(PERIOD_US);
rwgriffithv 0:88c60458332e 38 m_LB.pulsewidth_us(0);
rwgriffithv 0:88c60458332e 39 m_LF.pulsewidth_us((int)PERIOD_US*pwm);
rwgriffithv 0:88c60458332e 40 }
rwgriffithv 0:88c60458332e 41 } else {
rwgriffithv 0:88c60458332e 42 if (motor == RIGHT_MOTOR) {
rwgriffithv 0:88c60458332e 43 m_RB.period_us(PERIOD_US);
rwgriffithv 0:88c60458332e 44 m_RF.pulsewidth_us(0);
rwgriffithv 0:88c60458332e 45 m_RB.pulsewidth_us((int)PERIOD_US*abs(pwm));
rwgriffithv 0:88c60458332e 46 } else {
rwgriffithv 0:88c60458332e 47 m_LB.period_us(PERIOD_US);
rwgriffithv 0:88c60458332e 48 m_LF.pulsewidth_us(0);
rwgriffithv 0:88c60458332e 49 m_LB.pulsewidth_us((int)PERIOD_US*abs(pwm));
rwgriffithv 0:88c60458332e 50 }
rwgriffithv 0:88c60458332e 51 }
rwgriffithv 0:88c60458332e 52 }
rwgriffithv 0:88c60458332e 53
rwgriffithv 0:88c60458332e 54 Motors::Motors() {
rwgriffithv 0:88c60458332e 55 // DO NOT initialize PWM!!! It breaks the mouse.
rwgriffithv 0:88c60458332e 56 }
rwgriffithv 0:88c60458332e 57
rwgriffithv 0:88c60458332e 58 void Motors::stop() {
rwgriffithv 0:88c60458332e 59 setRightPwm(0);
rwgriffithv 0:88c60458332e 60 setLeftPwm(0);
rwgriffithv 0:88c60458332e 61 }
rwgriffithv 0:88c60458332e 62
rwgriffithv 0:88c60458332e 63 void Motors::setRightPwm(float pwm) {
rwgriffithv 0:88c60458332e 64 m_rpwm = pwm;
rwgriffithv 0:88c60458332e 65 setMotorPwm(RIGHT_MOTOR, pwm);
rwgriffithv 0:88c60458332e 66 }
rwgriffithv 0:88c60458332e 67
rwgriffithv 0:88c60458332e 68 void Motors::setLeftPwm(float pwm) {
rwgriffithv 0:88c60458332e 69 m_lpwm = pwm;
rwgriffithv 0:88c60458332e 70 setMotorPwm(LEFT_MOTOR, pwm);
rwgriffithv 0:88c60458332e 71 }
rwgriffithv 0:88c60458332e 72
rwgriffithv 0:88c60458332e 73