Revision 8:a0760acdc59e, committed 2017-05-05

Comitter:

kyleliangus

Date:

Fri May 05 01:21:33 2017 +0000

Parent:

7:6f5cb6377bd4

Child:

9:1d8e4da058cd

Commit message:

Created Motor class

Changed in this revision

--- a/main.cpp	Fri May 05 00:08:59 2017 +0000
+++ b/main.cpp	Fri May 05 01:21:33 2017 +0000
@@ -13,10 +13,12 @@
 #define I_CONSTANT 0.0000025
 #define D_CONSTANT 0.25
 
+#include "QEI.h"
+#define PULSES 880
 
 int main()
 {
-    enableMotors();
+    //enableMotors();
     //Set highest bandwidth.
     gyro.setLpBandwidth(LPFBW_42HZ);
     serial.baud(9600);
@@ -33,13 +35,21 @@
     greenLed.write(0);
     blueLed.write(1);
     
-    rightWheelForward(0.1);
-    leftWheelForward(0.1);
+    //rightWheelForward(0.1);
+    //leftWheelForward(0.1);
+
+    // PA_1 is A of right
+    // PA_0 is B of right
+    // PA_5 is A of left
+    // PB_3 is B of left
+    QEI encoder0( PA_5, PB_3, NC, PULSES, QEI::X4_ENCODING );
+    QEI encoder1( PA_1, PA_0, NC, PULSES, QEI::X4_ENCODING );
 
     while (1) {
-
-    wait(0.1);
-        serial.printf("%i, %i, %i\n", gyro.getGyroX(), gyro.getGyroY(), gyro.getGyroZ());
+        
+        wait(0.1);
+        //serial.printf("%i, %i, %i\n", gyro.getGyroX(), gyro.getGyroY(), gyro.getGyroZ());
+        serial.printf("Pulse Count=> e0:%d, e1:%d      \r\n", encoder0.getPulses(),encoder1.getPulses());
 
         //reading = Rec_4.read();
 //        serial.printf("reading: %f\n", reading);

--- a/main.h	Fri May 05 00:08:59 2017 +0000
+++ b/main.h	Fri May 05 01:21:33 2017 +0000
@@ -5,6 +5,7 @@
 #include "ITG3200.h"
 
 // Motors
+/*
 PwmOut left1(PB_7);
 PwmOut left2(PB_8);
 PwmOut right1(PA_10);
@@ -12,6 +13,7 @@
 
 DigitalOut enableLeftMotor(PB_4);
 DigitalOut enableRightMotor(PB_5);
+*/
 
 // RGB LED
 DigitalOut redLed(PC_0);

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/motor.cpp	Fri May 05 01:21:33 2017 +0000
@@ -0,0 +1,23 @@
+#include "mbed.h"
+#include "motor.h"
+
+void Motor::backward(double voltage) {
+    forw.write(voltage);
+    back.write(0);
+}
+
+void Motor::forward(double voltage) {
+    forw.write(0);
+    back.write(voltage);
+}
+
+
+void Motor::brake() {
+    forw.write(BRAKE_VOLTAGE);
+    back.write(BRAKE_VOLTAGE);
+}
+
+void Motor::coast() {
+    forw.write(0);
+    back.write(0);
+}
\ No newline at end of file

--- a/motor.h	Fri May 05 00:08:59 2017 +0000
+++ b/motor.h	Fri May 05 01:21:33 2017 +0000
@@ -2,75 +2,46 @@
 #define MOTOR_H
 
 #include "mbed.h"
-#include "main.h"
-
-#include "QEI.h"
+//#include "main.h"
 
 #define BRAKE_VOLTAGE 0.2
 
+/*
 extern PwmOut left1;
 extern PwmOut left2;
 extern PwmOut right1;
 extern PwmOut right2;
 
 extern DigitalOut enableLeftMotor;
-extern DigitalOut enableRightMotor;
+extern DigitalOut enableRightMotor; */
+
+class Motor
+{
+    public:
+        Motor( PinName f, PinName b, PinName e ) : 
+            forw( f ), back( b ), enableMotor( e )
+        {
+            enableMotor.write( 1 );
+        }
+    
+        void backward( double voltage );
+        void forward( double voltage );
+        void brake();
+        void coast();
+        
+    private:
+        PwmOut forw;
+        PwmOut back;
+        DigitalOut enableMotor;  
+};
 
 //QEI leftWheel(
 
+/*
 inline void enableMotors(){
     enableLeftMotor.write(1);
     enableRightMotor.write(1);
-}
-
-inline void rightWheelBackward(double voltage) {
-    right1.write(voltage);
-    right2.write(0);
-}
-
-inline void rightWheelForward(double voltage) {
-    right1.write(0);
-    right2.write(voltage);
-}
-
-inline void leftWheelForward(double voltage) {
-    left1.write(0);
-    left2.write(voltage);
-}
-
-inline void leftWheelBackward(double voltage) {
-    left1.write(voltage);
-    left2.write(0);
-}
+}*/
 
-inline void brakeLeftWheel() {
-    left1.write(BRAKE_VOLTAGE);
-    left2.write(BRAKE_VOLTAGE);
-}
-
-inline void brakeRightWheel() {
-    right1.write(BRAKE_VOLTAGE);
-    right2.write(BRAKE_VOLTAGE);
-}
-
-inline void brake() {
-    brakeLeftWheel();
-    brakeRightWheel();
-}
-
-inline void coastLeftWheel() {
-    left1.write(0);
-    left2.write(0);
-}
-
-inline void coastRightWheel() {
-    right1.write(0);
-    right2.write(0);
-}
-
-inline void coast() {
-    coastLeftWheel();
-    coastRightWheel();
-}
 
 #endif
\ No newline at end of file