MacroRat / MouseCode

Mouse code for the MacroRat

Dependencies:   ITG3200 QEI

Files at this revision

API Documentation at this revision

Revision 7:6f5cb6377bd4, committed 2017-05-05

Comitter:
sahilmgandhi
Date:
Fri May 05 00:08:59 2017 +0000
Parent:
6:3d68fedd6fd9
Child:
8:a0760acdc59e
Commit message:
Added some stuff for motor + encoders

Changed in this revision

QEI.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
main.h Show annotated file Show diff for this revision Revisions of this file
motor.h Show annotated file Show diff for this revision Revisions of this file 
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/QEI.lib	Fri May 05 00:08:59 2017 +0000
@@ -0,0 +1,1 @@
+https://mbed.org/users/aberk/code/QEI/#5c2ad81551aa

--- a/main.cpp	Thu May 04 21:38:20 2017 +0000
+++ b/main.cpp	Fri May 05 00:08:59 2017 +0000
@@ -6,6 +6,7 @@
 
 #include <stdlib.h>
 #include "ITG3200.h"
+#include "QEI.h"
 
 // PID
 #define P_CONSTANT 0.0025
@@ -15,12 +16,14 @@
 
 int main()
 {
+    enableMotors();
     //Set highest bandwidth.
     gyro.setLpBandwidth(LPFBW_42HZ);
     serial.baud(9600);
-       
+    serial.printf("The gyro's address is %s", gyro.getWhoAmI());
+
     wait (0.1);
-    
+
 //    IR_1.write(1);
 //    IR_2.write(1);
 //    IR_3.write(1);
@@ -30,11 +33,14 @@
     greenLed.write(0);
     blueLed.write(1);
     
+    rightWheelForward(0.1);
+    leftWheelForward(0.1);
+
     while (1) {
-        
-        wait(0.1);
+
+    wait(0.1);
         serial.printf("%i, %i, %i\n", gyro.getGyroX(), gyro.getGyroY(), gyro.getGyroZ());
-            
+
         //reading = Rec_4.read();
 //        serial.printf("reading: %f\n", reading);
 //        redLed.write(0);

--- a/main.h	Thu May 04 21:38:20 2017 +0000
+++ b/main.h	Fri May 05 00:08:59 2017 +0000
@@ -10,14 +10,15 @@
 PwmOut right1(PA_10);
 PwmOut right2(PA_11);
 
+DigitalOut enableLeftMotor(PB_4);
+DigitalOut enableRightMotor(PB_5);
+
 // RGB LED
 DigitalOut redLed(PC_0);
 DigitalOut blueLed(PC_1);
 DigitalOut greenLed(PC_2);
 
 // IRs
-
-/*
 DigitalOut IR_1(PB_1);
 DigitalOut IR_2(PB_13);
 DigitalOut IR_3(PB_0);
@@ -28,7 +29,7 @@
 AnalogIn Rec_2(PC_4);
 AnalogIn Rec_3(PA_6);
 AnalogIn Rec_4(PA_7);
-*/
+
 
 // Doing DEBUGGING
 #define DEBUGGING 1

--- a/motor.h	Thu May 04 21:38:20 2017 +0000
+++ b/motor.h	Fri May 05 00:08:59 2017 +0000
@@ -4,6 +4,8 @@
 #include "mbed.h"
 #include "main.h"
 
+#include "QEI.h"
+
 #define BRAKE_VOLTAGE 0.2
 
 extern PwmOut left1;
@@ -11,12 +13,22 @@
 extern PwmOut right1;
 extern PwmOut right2;
 
-inline void rightWheelForward(double voltage) {
+extern DigitalOut enableLeftMotor;
+extern DigitalOut enableRightMotor;
+
+//QEI leftWheel(
+
+inline void enableMotors(){
+    enableLeftMotor.write(1);
+    enableRightMotor.write(1);
+}
+
+inline void rightWheelBackward(double voltage) {
     right1.write(voltage);
     right2.write(0);
 }
 
-inline void rightWheelBackward(double voltage) {
+inline void rightWheelForward(double voltage) {
     right1.write(0);
     right2.write(voltage);
 }