Revision 0:a0c8b50a7292, committed 2016-05-18

Comitter:

yruiewyrui3

Date:

Wed May 18 12:08:19 2016 +0000

Commit message:

losowo przod i tyl

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Engine.cpp	Wed May 18 12:08:19 2016 +0000
@@ -0,0 +1,37 @@
+#include "Engine.h"
+
+// przelicza procenty na pwn:
+// - wartosc poczatkowa - 0.2377,
+// - prog - 0.0077
+float Engine::getPwm(float speed){
+    if (speed == 0)
+        return 0;
+    else if (speed > 0)
+        return 0.2377f + (fabs(speed) - 1) * 0.0077f;
+    else
+        return 0.406f + (fabs(speed) - 1) * 0.006f;
+    }
+
+void Engine::move(int speed){
+    if (speed == 0){
+        //soft stop
+        _fwd = 0;
+        _rev = 0;  
+        return;
+    }
+        
+    if (speed < 0){
+        _fwd = 0;
+        _rev = 1;
+    }
+    else{
+        _fwd = 1;
+        _rev = 0;
+    }
+    _pwm = getPwm(speed);
+}
+
+//hard stop
+void Engine::stop(){
+    _pwm = 0;
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Engine.h	Wed May 18 12:08:19 2016 +0000
@@ -0,0 +1,22 @@
+#ifndef ENGINE_H
+#define ENGINE_H
+
+#include "mbed.h"
+
+
+class Engine{
+  private:
+    PwmOut _pwm;
+    DigitalOut _fwd;
+    DigitalOut _rev;
+    
+    float getPwm(float val);
+    
+  public:
+    Engine(PinName pwm, PinName fwd, PinName rev): _pwm(pwm), _fwd(fwd), _rev(rev){}
+    void move(int speed); // silniki pracuja z okreslona predkoscia (speed ma zakres od -1 do 1)
+    void stop();    //hard stop
+};
+
+
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed May 18 12:08:19 2016 +0000
@@ -0,0 +1,36 @@
+#include "Engine.h"
+
+Serial pc(SERIAL_TX, SERIAL_RX);
+int liczba =0;
+int main() {
+    //inicjalizacja silnikow - piny dzialaja:
+    Engine eng_left = Engine(PB_13, PB_4, PB_10);
+    Engine eng_right = Engine(PB_14, PB_5, PB_3);
+    
+    
+    while(true) {
+        // testy - przyspiesz od 0 do 100% a potem zwolnij:
+            eng_left.move(0);
+            eng_right.move(0);
+            wait(1);
+            srand( time( NULL ) );
+            liczba = (std::rand() % 200 ) - 100;
+            eng_left.move(liczba);
+            eng_right.move(liczba);
+            wait(5);
+            if (liczba==0){
+                pc.printf("%f", time(NULL));
+                pc.printf("Nie ma wiatru, wiec stoje w miejscu.");
+                }
+            else if (liczba>0){
+                pc.printf("%f", time(NULL));
+                pc.printf("Jade do przodu. Predkosc w procentach to %d \n", liczba);
+                }
+            else {
+                pc.printf("%f", time(NULL));
+                pc.printf("Jade do tylu. Predkosc w procentach to %d \n", liczba);
+                }
+        
+    }
+
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Wed May 18 12:08:19 2016 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/7c328cabac7e
\ No newline at end of file