Dominik Święch / Mbed 2 deprecated Komunikacja_read_write

main + engine

Dependencies:   mbed

Fork of AktalnyCZOSN by Dominik Święch

Engine.cpp@2:35dd310320e5, 2016-06-08 (annotated)

Committer:
yruiewyrui3
Date:
Wed Jun 08 10:26:19 2016 +0000
Revision:
2:35dd310320e5
Parent:
0:2294f5ee0610 
.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yruiewyrui3 0:2294f5ee0610 1 #include "Engine.h"
yruiewyrui3 0:2294f5ee0610 2
yruiewyrui3 0:2294f5ee0610 3 // przelicza procenty na pwn:
yruiewyrui3 0:2294f5ee0610 4 // - wartosc poczatkowa - 0.2377,
yruiewyrui3 0:2294f5ee0610 5 // - prog - 0.0077
yruiewyrui3 0:2294f5ee0610 6 float Engine::getPwm(float speed){
yruiewyrui3 0:2294f5ee0610 7 if (speed == 0)
yruiewyrui3 0:2294f5ee0610 8 return 0;
yruiewyrui3 0:2294f5ee0610 9 else if (speed > 0)
yruiewyrui3 0:2294f5ee0610 10 return 0.2377f + (fabs(speed) - 1) * 0.0077f;
yruiewyrui3 0:2294f5ee0610 11 else
yruiewyrui3 0:2294f5ee0610 12 return 0.406f + (fabs(speed) - 1) * 0.006f;
yruiewyrui3 0:2294f5ee0610 13 }
yruiewyrui3 0:2294f5ee0610 14
yruiewyrui3 0:2294f5ee0610 15 void Engine::move(int speed){
yruiewyrui3 0:2294f5ee0610 16 if (speed > 100)
yruiewyrui3 0:2294f5ee0610 17 speed =100;
yruiewyrui3 0:2294f5ee0610 18 else if (speed < -100)
yruiewyrui3 0:2294f5ee0610 19 speed = -100;
yruiewyrui3 0:2294f5ee0610 20
yruiewyrui3 0:2294f5ee0610 21 if (speed == 0){
yruiewyrui3 0:2294f5ee0610 22 //soft stop
yruiewyrui3 0:2294f5ee0610 23 _fwd = 0;
yruiewyrui3 0:2294f5ee0610 24 _rev = 0;
yruiewyrui3 0:2294f5ee0610 25 return;
yruiewyrui3 0:2294f5ee0610 26 }
yruiewyrui3 0:2294f5ee0610 27
yruiewyrui3 0:2294f5ee0610 28 if (speed < 0){
yruiewyrui3 0:2294f5ee0610 29 _fwd = 0;
yruiewyrui3 0:2294f5ee0610 30 _rev = 1;
yruiewyrui3 0:2294f5ee0610 31 }
yruiewyrui3 0:2294f5ee0610 32
yruiewyrui3 0:2294f5ee0610 33 else{
yruiewyrui3 0:2294f5ee0610 34 _fwd = 1;
yruiewyrui3 0:2294f5ee0610 35 _rev = 0;
yruiewyrui3 0:2294f5ee0610 36 }
yruiewyrui3 0:2294f5ee0610 37
yruiewyrui3 0:2294f5ee0610 38 _pwm = getPwm(speed);
yruiewyrui3 0:2294f5ee0610 39 }
yruiewyrui3 0:2294f5ee0610 40
yruiewyrui3 0:2294f5ee0610 41 //hard stop
yruiewyrui3 0:2294f5ee0610 42 void Engine::stop(){
yruiewyrui3 0:2294f5ee0610 43 _pwm = 0;
yruiewyrui3 0:2294f5ee0610 44 }