David Grayson / Mbed 2 deprecated DeadReckoning

David's dead reckoning code for the LVBots competition on March 6th. Uses the mbed LPC1768, DRV8835, QTR-3RC, and two DC motors with encoders.

Dependencies:   PololuEncoder Pacer mbed GeneralDebouncer

Files at this revision

API Documentation at this revision

Revision 5:01ad080dc4fa, committed 2014-02-20

Comitter:
DavidEGrayson
Date:
Thu Feb 20 23:30:53 2014 +0000
Parent:
4:1b20a11765c8
Child:
6:89a39870e23d
Commit message:
Succeeded in getting high resolution PWM.

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file
motors.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Thu Feb 20 22:59:28 2014 +0000
+++ b/main.cpp	Thu Feb 20 23:30:53 2014 +0000
@@ -34,9 +34,9 @@
     
     motors_init();
 
-    motors_speed_set(5, 55);
+    motors_speed_set(5, 45);
 
-    Pacer reportPacer(250000);
+    Pacer reportPacer(500000);
     Pacer blinkPacer(200000);
     uint32_t eventCount = 0;
     uint32_t count = 0;
@@ -63,9 +63,7 @@
         if(reportPacer.pace())
         {
             led2 = 1;
-            char str[80];
-            sprintf(str, "%8x %8x %8x\n", encoder1.getCount(), count, eventCount);
-            pc.puts(str);
+            pc.printf("%8x\n", LPC_PWM1->MCR);
             led2 = 0;
         }
         

--- a/motors.cpp	Thu Feb 20 22:59:28 2014 +0000
+++ b/motors.cpp	Thu Feb 20 23:30:53 2014 +0000
@@ -11,10 +11,17 @@
 {
     motor1Pwm.period_us(50);
     motor2Pwm.period_us(50);
+    motor1Pwm.pulsewidth_us(20);
+    motor2Pwm.pulsewidth_us(20);
+    
+    LPC_PWM1->MR0 = 1200;       // Set the period
+    LPC_PWM1->MCR = (1 << 1);   // Reset PWMTC when it is equal to MR0.
+    LPC_PWM1->MR1 = 10;
+    LPC_PWM1->MR3 = 600;
 }
 
 void motors_speed_set(int16_t motor1_speed, int16_t motor2_speed)
 {
-    motor1Pwm.pulsewidth_us(motor1_speed);
-    motor2Pwm.pulsewidth_us(motor2_speed);    
+    //LPC_PWM1->MR0 = motor1_speed;
+    //LPC_PWM1->MR2 = motor2_speed;
 }