Revision 9:9734347b5756, committed 2014-02-22

Comitter:

DavidEGrayson

Date:

Sat Feb 22 03:03:37 2014 +0000

Parent:

8:78b1ff957cba

Child:

10:e4dd36148539

Commit message:

Made verything use CamelCase.;

Changed in this revision

--- a/encoders.cpp	Sat Feb 22 02:23:21 2014 +0000
+++ b/encoders.cpp	Sat Feb 22 03:03:37 2014 +0000
@@ -1,21 +1,21 @@
 #include "encoders.h"
 
-const PinName encoderPin1A = p6,
-              encoderPin1B = p7,
-              encoderPin2A = p8,
-              encoderPin2B = p9;
+const PinName encoderPinLeftA = p6,   // Gray wire
+              encoderPinLeftB = p7,   // White wire
+              encoderPinRightA = p30,  // White wire
+              encoderPinRightB = p29;  // Gray wire
 
 PololuEncoderBuffer encoderBuffer;
-PololuEncoder encoder1(encoderPin1A, encoderPin1B, &encoderBuffer, ENCODER1);
-PololuEncoder encoder2(encoderPin2A, encoderPin2B, &encoderBuffer, ENCODER2);
+PololuEncoder encoderLeft(encoderPinLeftA, encoderPinLeftB, &encoderBuffer, ENCODER1);
+PololuEncoder encoderRight(encoderPinRightA, encoderPinRightB, &encoderBuffer, ENCODER2);
 
-void encoders_init()
+void encodersInit()
 {
-    DigitalIn(encoderPin1A).mode(PullUp);
-    DigitalIn(encoderPin1B).mode(PullUp);
-    DigitalIn(encoderPin2A).mode(PullUp);
-    DigitalIn(encoderPin2B).mode(PullUp);
+    DigitalIn(encoderPinLeftA).mode(PullNone);
+    DigitalIn(encoderPinLeftB).mode(PullNone);
+    DigitalIn(encoderPinRightA).mode(PullNone);
+    DigitalIn(encoderPinRightB).mode(PullNone);
     wait_us(50);
-    encoder1.init();
-    encoder2.init();   
+    encoderLeft.init();
+    encoderRight.init();   
 }
\ No newline at end of file

--- a/encoders.h	Sat Feb 22 02:23:21 2014 +0000
+++ b/encoders.h	Sat Feb 22 03:03:37 2014 +0000
@@ -6,6 +6,6 @@
 #define ENCODER2 0x01
 
 extern PololuEncoderBuffer encoderBuffer;
-extern PololuEncoder encoder1, encoder2;
+extern PololuEncoder encoderLeft, encoderRight;
 
-void encoders_init();
\ No newline at end of file
+void encodersInit();
\ No newline at end of file

--- a/main.cpp	Sat Feb 22 02:23:21 2014 +0000
+++ b/main.cpp	Sat Feb 22 03:03:37 2014 +0000
@@ -3,40 +3,24 @@
 
 #include "motors.h"
 #include "encoders.h"
+#include "leds.h"
 #include "pc_serial.h"
-#include "leds.h"
+#include "test.h"
 
 int main()
 {
     pc.baud(115200);
     
     // Enable pull-ups on encoder pins and give them a chance to settle.
-    encoders_init();
-    motors_init();
+    encodersInit();
+    motorsInit();
 
     // Test routines
-    motors_test();
-    encoders_test();
+    //testMotors();
+    testEncoders();
 
-    Pacer reportPacer(500000);
-    Pacer blinkPacer(200000);
     while(1)
     {
-        while(encoderBuffer.hasEvents())
-        {
-            PololuEncoderEvent event = encoderBuffer.readEvent();
-        }
-        
-        if(reportPacer.pace())
-        {
-            led2 = 1;
-            pc.printf("%8d %8d\n", encoder1.getCount(), encoder2.getCount());
-            led2 = 0;
-        }
-        
-        if (blinkPacer.pace())
-        {
-            led1 = !led1;
-        }
+
     }
 }

--- a/motors.cpp	Sat Feb 22 02:23:21 2014 +0000
+++ b/motors.cpp	Sat Feb 22 03:03:37 2014 +0000
@@ -2,20 +2,20 @@
 #include "motors.h"
 
 // Application     mbed pin    LPC1768
-// Motor 1 PWM     p26         P2[0]/PWM1[1]
-// Motor 1 dir     p25
-// Motor 2 PWM     p24         P2[2]/PWM1[3]
-// Motor 2 dir     p23
+// Motor L PWM     p26         P2[0]/PWM1[1]
+// Motor L dir     p25
+// Motor R PWM     p24         P2[2]/PWM1[3]
+// Motor R dir     p23
 
 // Clock structure:
 // System clock: 96 MHz
 // In LPC_SC->PCLKSEL0, PWM is assigned to system clock / 4 by default, so it ticks at 24 MHz.
 // This allows us to have 1200 possible speeds at 20 kHz.
 
-DigitalOut motor1Dir(p25);
-DigitalOut motor2Dir(p23);
+DigitalOut motorLeftDir(p25);
+DigitalOut motorRightDir(p23);
 
-void motors_init()
+void motorsInit()
 {
     //PwmOut(p26).period_us(100);
     
@@ -40,34 +40,34 @@
     
     LPC_PWM1->MR0 = 1200;       // Set the period.  This must be done before enabling PWM.
     LPC_PWM1->LER = (1 << 0);
-    motors_speed_set(0, 0);
+    motorsSpeedSet(0, 0);
     
     LPC_PWM1->TCR = (1 << 0) | (1 << 3);   // Enable the PWM counter and enable PWM.
 }
 
-void motors_speed_set(int16_t motor1_speed, int16_t motor2_speed)
+void motorsSpeedSet(int16_t motorLeftSpeed, int16_t motorRightSpeed)
 {
-    if (motor1_speed < 0)
+    if (motorLeftSpeed < 0)
     {
-        motor1_speed = -motor1_speed;
-        motor1Dir = 0;   
+        motorLeftSpeed = -motorLeftSpeed;
+        motorLeftDir = 0;   
     }
     else
     {
-        motor1Dir = 1;    
+        motorLeftDir = 1;
     }
-    LPC_PWM1->MR1 = motor1_speed;
+    LPC_PWM1->MR1 = motorLeftSpeed;
     
-    if (motor2_speed < 0)
+    if (motorRightSpeed < 0)
     {
-        motor2_speed = -motor2_speed;   
-        motor2Dir = 0;
+        motorRightSpeed = -motorRightSpeed;   
+        motorRightDir = 0;
     }
     else
     {
-        motor2Dir = 1;
+        motorRightDir = 1;
     }
-    LPC_PWM1->MR3 = motor2_speed;
+    LPC_PWM1->MR3 = motorRightSpeed;
     
     LPC_PWM1->LER |= (1<<1) | (1<<3);
 }

--- a/motors.h	Sat Feb 22 02:23:21 2014 +0000
+++ b/motors.h	Sat Feb 22 03:03:37 2014 +0000
@@ -1,4 +1,4 @@
 #pragma once
 
-void motors_init();
-void motors_speed_set(int16_t motor1_speed, int16_t motor2_speed);
+void motorsInit();
+void motorsSpeedSet(int16_t motorLeftSpeed, int16_t motorRightSpeed);

--- a/test.cpp	Sat Feb 22 02:23:21 2014 +0000
+++ b/test.cpp	Sat Feb 22 03:03:37 2014 +0000
@@ -2,9 +2,38 @@
 
 #include <mbed.h>
 #include "motors.h"
+#include <Pacer.h>
+
+#include "test.h"
 #include "leds.h"
+#include "encoders.h"
 #include "pc_serial.h"
 
+void testEncoders()
+{
+    Pacer reportPacer(500000);
+    Pacer blinkPacer(200000);
+    while(1)
+    {
+        while(encoderBuffer.hasEvents())
+        {
+            PololuEncoderEvent event = encoderBuffer.readEvent();
+        }
+        
+        if(reportPacer.pace())
+        {
+            led2 = 1;
+            pc.printf("%8d %8d\n", encoderLeft.getCount(), encoderRight.getCount());
+            led2 = 0;
+        }
+        
+        if (blinkPacer.pace())
+        {
+            led1 = !led1;
+        }
+    }
+}
+
 void testMotors()
 {
     led1 = 1;
@@ -12,29 +41,29 @@
     led3 = 0;
     while(1)
     {
-        motors_speed_set(0, 0);
+        motorsSpeedSet(0, 0);
         led2 = 0;
         led3 = 0;
         wait(2);
         
-        motors_speed_set(300, 300);
+        motorsSpeedSet(300, 300);
         wait(2);
         
-        motors_speed_set(-300, 300);
+        motorsSpeedSet(-300, 300);
         wait(2);
         
-        motors_speed_set(0, 0);
+        motorsSpeedSet(0, 0);
         led2 = 1;
         wait(2);
         
-        motors_speed_set(600, 600);
+        motorsSpeedSet(600, 600);
         wait(2);
         
-        motors_speed_set(0, 0);
+        motorsSpeedSet(0, 0);
         led3 = 1;
         wait(2);
         
-        motors_speed_set(1200, 1200);
+        motorsSpeedSet(1200, 1200);
         wait(2);
     }
 }
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/test.h	Sat Feb 22 03:03:37 2014 +0000
@@ -0,0 +1,4 @@
+#pragma once
+
+void testEncoders();
+void testMotors();
\ No newline at end of file