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 4:1b20a11765c8, committed 2014-02-20

Comitter:
DavidEGrayson
Date:
Thu Feb 20 22:59:28 2014 +0000
Parent:
3:59c80d4b4bf2
Child:
5:01ad080dc4fa
Commit message:
Succeeded in generating basic PWM signals with PwmOut.

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
motors.h Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Thu Feb 20 22:24:32 2014 +0000
+++ b/main.cpp	Thu Feb 20 22:59:28 2014 +0000
@@ -1,6 +1,7 @@
 #include <mbed.h>
 #include "PololuEncoder.h"
 #include "Pacer.h"
+#include "motors.h"
 
 DigitalOut led1(LED1), led2(LED2);
 
@@ -30,12 +31,17 @@
     wait_us(50);
     encoder1.init();
     encoder2.init();
+    
+    motors_init();
+
+    motors_speed_set(5, 55);
 
     Pacer reportPacer(250000);
     Pacer blinkPacer(200000);
     uint32_t eventCount = 0;
     uint32_t count = 0;
-    while(1) {
+    while(1)
+    {
         while(encoderBuffer.hasEvents())
         {
             PololuEncoderEvent event = encoderBuffer.readEvent();

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/motors.cpp	Thu Feb 20 22:59:28 2014 +0000
@@ -0,0 +1,20 @@
+#include <mbed.h>
+
+static PwmOut motor1Pwm(p26);
+DigitalOut motor1Dir(p25);
+
+static PwmOut motor2Pwm(p24);
+DigitalOut motor2Dir(p23);
+
+
+void motors_init()
+{
+    motor1Pwm.period_us(50);
+    motor2Pwm.period_us(50);
+}
+
+void motors_speed_set(int16_t motor1_speed, int16_t motor2_speed)
+{
+    motor1Pwm.pulsewidth_us(motor1_speed);
+    motor2Pwm.pulsewidth_us(motor2_speed);    
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/motors.h	Thu Feb 20 22:59:28 2014 +0000
@@ -0,0 +1,2 @@
+void motors_init();
+void motors_speed_set(int16_t motor1_speed, int16_t motor2_speed);