Diff: main.cpp

Revision:

0:febb419f633a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Nov 08 14:32:06 2019 +0000
@@ -0,0 +1,62 @@
+#include "mbed.h"
+
+PwmOut steering(p21);
+PwmOut velocity(p22);
+
+float vo=0;
+
+// Velocity expects -1 (reverse) to +1 (forward)
+void Velocity(float v) {
+    v=v+1;
+    if (v>=0 && v<=2) {
+        if (vo>=1 && v<1) {                 //
+            velocity.pulsewidth(0.0014);    // this is required to
+            wait(0.1);                      //
+            velocity.pulsewidth(0.0015);    // move into reverse
+            wait(0.1);                      //
+        }                                   //
+        velocity.pulsewidth(v/2000+0.001);
+        vo=v;
+    }
+}
+// Steering expects -1 (left) to +1 (right)
+void Steering(float s) {
+    s=s+1;
+    if (s>=0 && s<=2) {
+        steering.pulsewidth(s/2000+0.001);
+    }
+}
+
+int main() { 
+    velocity.period(0.02);
+    steering.period(0.02);
+    Velocity(0); // initiate the drive motor (this must be done)
+    Steering(0); // centre steering 
+    wait(0.5);
+    while(1) {
+        for(int i=0; i<100; i++) {          // stop to full forward
+            Velocity(i/100.0);
+            wait(0.1);
+        }
+        for(int i=100; i>-100; i--) {       // full forward to full reverse
+            Velocity(i/100.0);
+            wait(0.1);
+        }
+        for(int i=-100; i<0; i++) {         // full reverse to stop
+            Velocity(i/100.0);
+            wait(0.1);
+        }
+        for(int i=0; i<100; i++) {          // centre to full right
+            Steering(i/100.0);
+            wait(0.1);
+        }
+        for(int i=100; i>-100; i--) {       // full right to full left
+            Steering(i/100.0);
+            wait(0.1);
+        }
+        for(int i=-100; i<0; i++) {         // full left to centre
+            Steering(i/100.0);
+            wait(0.1);
+        }
+    }
+}