1. include "mbed.h"

PwmOut steering(p21); PwmOut velocity(p22);

float vo=0;

Velocity expects -1 (reverse) to +1 (forward) void Velocity(float v) { v=v+1; if (v>=0 && v<=2) { if (vo>=1 && v<1) { velocity.pulsewidth(0.0014); this is required to wait(0.1); velocity.pulsewidth(0.0015); move into reverse wait(0.1); } velocity.pulsewidth(v/2000+0.001); vo=v; } } Steering expects -1 (left) to +1 (right) void Steering(float s) { s=s+1; if (s>=0 && s<=2) { steering.pulsewidth(s/2000+0.001); } }

int main() { velocity.period(0.02); steering.period(0.02); Velocity(0); initiate the drive motor (this must be done) Steering(0); centre steering wait(0.5); while(1) { for(int i=0; i<100; i++) { stop to full forward Velocity(i/100.0); wait(0.1); } for(int i=100; i>-100; i) { full forward to full reverse Velocity(i/100.0); wait(0.1); } for(int i=-100; i<0; i++) { full reverse to stop Velocity(i/100.0); wait(0.1); } for(int i=0; i<100; i++) { centre to full right Steering(i/100.0); wait(0.1); } for(int i=100; i>-100; i) { full right to full left Steering(i/100.0); wait(0.1); } for(int i=-100; i<0; i++) { full left to centre Steering(i/100.0); wait(0.1); } } }