Revision 3:94b650d0861d, committed 2010-12-16

Comitter:

sowmy87

Date:

Thu Dec 16 09:25:25 2010 +0000

Parent:

2:9e0d3f159ec3

Commit message:

1

Changed in this revision

--- a/Serializer.cpp	Mon Dec 13 06:04:02 2010 +0000
+++ b/Serializer.cpp	Thu Dec 16 09:25:25 2010 +0000
@@ -3,7 +3,7 @@
  */
 #include "Serializer.h"
 
-Serial pcc(USBTX, USBRX);
+//Serial pcc(USBTX, USBRX);
 
 Serializer::Serializer() {
     serial=new Serial(p28,p27);
@@ -25,20 +25,19 @@
     led2=1;
     while (serial->readable()) {
         c1=serial->getc();
-        pcc.putc(c1);
     }
     if (c1!='>')
         for (int i=0;i<5;i++) {
             led1=led2=led3=led4=1;
-            wait(0.5);
+            wait(0.1);
             led1=led2=led3=led4=0;
-            wait(0.5);
+            wait(0.1);
         }
     wait(.25);
     led3=1;
     wait(.25);
     led4=1;
-    SetVPID(10,0,5,10);
+    SetVPID(1,0,0,100);
     wait(0.25);
     led1=0;
     wait(.25);
@@ -97,11 +96,9 @@
 }
 
 void Serializer::SetSpeed(int inPsec) {
-    pcc.printf("inSpeed %i\n\r",inPsec);
     if (inPsec>MAX_SPEED)inPsec=MAX_SPEED;
     if (inPsec<-MAX_SPEED)inPsec=-MAX_SPEED;
     inPsec*=-1;
-    pcc.printf("mogo 1:%i\n\r",inPsec);
     if (serial->writeable())
         serial->printf("mogo 1:%i 2:%i\r", inPsec, inPsec);
     leftSpeed=rightSpeed=inPsec;
@@ -189,9 +186,7 @@
 void Serializer::PivetLeft(int deg) {
 
     Stop();
-    pcc.printf("deg = %i\t",deg);
     deg=deg*PIVET_ADJUSTMENT;
-    //pcc.printf("adj = %i\n\r",deg);
     wait(0.1);
     if (serial->writeable())
         serial->printf("digo 1:%i:%i 2:%i:%i\r",deg,PIVET_SPEED,-deg,PIVET_SPEED);
@@ -219,6 +214,20 @@
         serial->printf("pwm 2:%i\r",_rPWM);
 }
 
+void Serializer::SetPWM(int pwm){
+    _rPWM=-pwm;
+    _lPWM=-pwm;
+    if (serial->writeable())
+        serial->printf("pwm 1:%i 2:%i\r",_lPWM, _rPWM);      
+ }
+
+void Serializer::SetPWM(int lPwm, int rPwm){
+    _rPWM=-rPwm;
+    _lPWM=-lPwm;
+    if (serial->writeable())
+        serial->printf("pwm 1:%i 2:%i\r",_lPWM, _rPWM);      
+ }
+
 int Serializer::GetCountLeft() {
     if (serial->writeable()) {
         serial->printf("getenc 1\r");
@@ -317,6 +326,5 @@
         else if (c=='0')
             bsy=0;
     }
-   pcc.putc(_isBusy+'0');
     if (_isBusy&&!bsy) _isBusy=0;
 }

--- a/Serializer.h	Mon Dec 13 06:04:02 2010 +0000
+++ b/Serializer.h	Thu Dec 16 09:25:25 2010 +0000
@@ -20,7 +20,7 @@
 #include "mbed.h"
 
 /**
- * Serializer Class to communicate with Robotics 
+ * Serializer Class to communicate with Robotics
  * Connection Serializer(tm) board
  */
 class Serializer {
@@ -29,9 +29,9 @@
     /**
      * Constructor.
      *
-     */     
+     */
     Serializer();
-    
+
     /**
      * Destructor.
      *
@@ -43,33 +43,33 @@
      *
      */
     void    ClearCountLeft();
-    
+
     /**
      * Clears right motor encoder count
      *
-     */ 
+     */
     void    ClearCountRight();
-    
+
     /**
      * Clears motors encoder counts
      *
      */
     void    ClearCount();
-    
+
     /**
      * Sets left motor speed
      * @param inPsec Motor Speed in inches per second
      */
     void    SetSpeedLeft(int inPsec);
-    
+
     /**
      * Sets right motor speed
      * @param inPsec Motor Speed in inches per second
      */
     void    SetSpeedRight(int inPsec);
-    
+
     /**
-     * Sets speed for both motors 
+     * Sets speed for both motors
      * @param inPsec Motor Speed in inches per second
      */
     void    SetSpeed(int inPsec);
@@ -82,7 +82,7 @@
      * @param l
      */
     void    SetVPID(int,int,int,int);
-    
+
     /**
      * Sets DPID
      * @param p
@@ -91,51 +91,52 @@
      * @param a
      */
     void    SetDPID(int,int,int,int);
-    
+
     /**
      * Sets left motor distance and speed
-     * @param inches Distance in inches
+     * @param inches Distance in ticks
      * @param inPsec Motor Speed
      */
     void    DiGoLeft(int inches,int inPsec);
-    
+
     /**
      * Sets right motor distance and speed
-     * @param inches Distance in inches
+     * @param inches Distance in ticks
      * @param inPsec Motor Speed
      */
     void    DiGoRight(int inches,int inPsec);
-    
+
     /**
      * Sets both motors distance and speed
-     * @param inches Distance in inches
+     * @param inches Distance in ticks
      * @param inPsec Motor Speed
      */
     void    DiGo(int inches,int inPsec);
-    
+
     void    SetLeftPWM(int pwm);
     void    SetRightPWM(int pwm);
-
+    void    SetPWM(int pwm);
+    void    SetPWM(int lPwm, int rPwm);
     int     IsBusy();
-    
+
     /**
      * Stops both motors
      */
     void    Stop();
-    
+
     void    TurnLeft(int deg);
     void    TurnRight(int deg);
     void    PivetLeft(int deg);
     void    PivetRight(int deg);
-    
+
     int     GetCountLeft();
     int     GetCountRight();
     int     GetCount();
     float   GetDistanceLeft();
     float   GetDistanceRight();
     float   GetDistance();
-    
-    
+
+