Stefan Krickl / Steering

Init

Dependents:   JetflyerMotorController

Steering.cpp@1:787f4284d968, 2017-07-13 (annotated)

Committer:
skrickl
Date:
Thu Jul 13 13:42:23 2017 +0000
Revision:
1:787f4284d968
bla

Who changed what in which revision?

UserRevisionLine numberNew contents of line
skrickl 1:787f4284d968 1 #include "Steering.h"
skrickl 1:787f4284d968 2
skrickl 1:787f4284d968 3 Steering::Steering() : _pwm(PIN_PWM_STEERING), _dir(PIN_DIR_STEERING)
skrickl 1:787f4284d968 4 {
skrickl 1:787f4284d968 5 _pwm.period_ms(20); //needs to be changed!!!
skrickl 1:787f4284d968 6 _currentAngle = 0;
skrickl 1:787f4284d968 7 _steerAngle = 0;
skrickl 1:787f4284d968 8 }
skrickl 1:787f4284d968 9
skrickl 1:787f4284d968 10 Steering::~Steering()
skrickl 1:787f4284d968 11 {
skrickl 1:787f4284d968 12
skrickl 1:787f4284d968 13 }
skrickl 1:787f4284d968 14
skrickl 1:787f4284d968 15 void Steering::setSteerAngle(int angle)
skrickl 1:787f4284d968 16 {
skrickl 1:787f4284d968 17 if (angle > MAX_STEER_ANGLE) angle = MAX_STEER_ANGLE;
skrickl 1:787f4284d968 18 if (angle < MIN_STEER_ANGLE) angle = MIN_STEER_ANGLE;
skrickl 1:787f4284d968 19 _steerAngle = angle;
skrickl 1:787f4284d968 20 }
skrickl 1:787f4284d968 21
skrickl 1:787f4284d968 22 void Steering::addToSteerAngle(int angle)
skrickl 1:787f4284d968 23 {
skrickl 1:787f4284d968 24 int sum = _steerAngle + angle;
skrickl 1:787f4284d968 25 setSteerAngle(sum);
skrickl 1:787f4284d968 26 }
skrickl 1:787f4284d968 27
skrickl 1:787f4284d968 28 int Steering::getSteerAngle()
skrickl 1:787f4284d968 29 {
skrickl 1:787f4284d968 30 return _steerAngle;
skrickl 1:787f4284d968 31 }
skrickl 1:787f4284d968 32
skrickl 1:787f4284d968 33 int Steering::readCurrentAngle()
skrickl 1:787f4284d968 34 {
skrickl 1:787f4284d968 35 _currentAngle = 5; //replace by reading the sensor
skrickl 1:787f4284d968 36 return _currentAngle;
skrickl 1:787f4284d968 37 }
skrickl 1:787f4284d968 38
skrickl 1:787f4284d968 39 int Steering::getCurrentAngle()
skrickl 1:787f4284d968 40 {
skrickl 1:787f4284d968 41 return _currentAngle;
skrickl 1:787f4284d968 42 }
skrickl 1:787f4284d968 43
skrickl 1:787f4284d968 44 void Steering::turn(float percentage)
skrickl 1:787f4284d968 45 {
skrickl 1:787f4284d968 46 //write to motor -1 ,1 direction
skrickl 1:787f4284d968 47 _pwm.write(abs(percentage)/100.0);
skrickl 1:787f4284d968 48 if (percentage < 0) _dir.write(0);
skrickl 1:787f4284d968 49 else _dir.write(1);
skrickl 1:787f4284d968 50 }