Revision 0:993cd673f077, committed 2011-06-13

Comitter:

Keisuke_Fujii

Date:

Mon Jun 13 07:41:53 2011 +0000

Child:

1:19d647492936

Commit message:

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Motordriver.lib	Mon Jun 13 07:41:53 2011 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/littlexc/code/Motordriver/#3110b9209d3c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/QEI.lib	Mon Jun 13 07:41:53 2011 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/aberk/code/QEI/#5c2ad81551aa

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/include_file.h	Mon Jun 13 07:41:53 2011 +0000
@@ -0,0 +1,20 @@
+#include "mbed.h"
+#include "QEI.h"
+
+//Serial  device( USBTX, USBRX );
+Serial  device( p28, p27 );
+QEI enco_right(  p5,  p6,  NC, 6 , QEI :: X4_ENCODING );
+QEI  enco_left( p17, p18,  NC, 6 , QEI :: X4_ENCODING );
+PwmOut   right_pwm( p22 );
+DigitalOut right_P( p7 );
+DigitalOut right_N( p8 );
+PwmOut    left_pwm( p21 );
+DigitalOut  left_P( p15 );
+DigitalOut  left_N( p16 );
+DigitalOut  enable( p19 );
+
+void move_f( float );
+void move_b( float );
+void turn_r( float );
+void turn_l( float );
+void   stop( void );
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Jun 13 07:41:53 2011 +0000
@@ -0,0 +1,105 @@
+#include "include_file.h"
+
+int main( int argc, char **argv )
+{
+    char key;
+    float d = 0.5;
+    device.baud( 115200 );
+    right_pwm.period_us( 10 );
+    left_pwm.period_us( 10 );
+    enable.write( 1 );
+    
+    device.putc('s');
+    device.printf("f:forward, b:back, r:turn_right\n"
+                  "l:turn_left, a:duty+=0.01, m:duty-=0.01\n");
+    while( 1 )
+    {
+        key = device.getc();
+        switch( key )
+        {
+            case 'f':
+                move_f( d );
+                break;
+            case 'b':
+                move_b( d );
+                break;
+            case 'r':
+                turn_r( d );
+                break;
+            case 'l':
+                turn_l( d );
+                break;
+            case 's':
+                stop();
+                break;
+            case 'a':
+                d += 0.01;
+                break;
+            case 'm':
+                d -= 0.01;
+                break;
+            default:
+                break;
+        }
+        device.printf("duty = %1.2f\r", d);
+        wait_ms( 10 );
+    }
+}
+
+void move_f( float d )
+{
+    right_P.write( 0 );
+    right_N.write( 1 );
+    left_P.write( 1 );
+    left_N.write( 0 );
+    right_pwm.write( d );
+    left_pwm.write( d );
+    /*right_pwm.pulsewidth_us( d );
+    left_pwm.pulsewidth_us( d );*/
+}
+
+void move_b( float d )
+{
+    right_P.write( 1 );
+    right_N.write( 0 );
+    left_P.write( 0 );
+    left_N.write( 1 );
+    right_pwm.write( d );
+    left_pwm.write( d );
+    /*right_pwm.pulsewidth_us( d );
+    left_pwm.pulsewidth_us( d );*/
+}
+
+void turn_r( float d )
+{
+    right_P.write( 0 );
+    right_N.write( 1 );
+    left_P.write( 0 );
+    left_N.write( 1 );
+    right_pwm.write( d );
+    left_pwm.write( d );
+    /*right_pwm.pulsewidth_us( d );
+    left_pwm.pulsewidth_us( d );*/
+}
+
+void turn_l( float d )
+{
+    right_P.write( 1 );
+    right_N.write( 0 );
+    left_P.write( 1 );
+    left_N.write( 0 );
+    right_pwm.write( d );
+    left_pwm.write( d );
+    /*right_pwm.pulsewidth_us( d );
+    left_pwm.pulsewidth_us( d );*/
+}
+
+void stop( void )
+{
+    right_P.write( 0 );
+    right_N.write( 0 );
+    left_P.write( 0 );
+    left_N.write( 0 );
+    right_pwm.write( 0 );
+    left_pwm.write( 0 );
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Mon Jun 13 07:41:53 2011 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/63bcd7ba4912