Revision 0:1cc4593f62e2, committed 2011-12-10
- Comitter:
- kagyroy
- Date:
- Sat Dec 10 10:58:29 2011 +0000
- Child:
- 1:0a67babd7786
- Commit message:
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Motordriver.lib Sat Dec 10 10:58:29 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 Sat Dec 10 10:58:29 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 Sat Dec 10 10:58:29 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 Sat Dec 10 10:58:29 2011 +0000
@@ -0,0 +1,173 @@
+#include "include_file.h"
+
+int main( int argc, char **argv )
+{
+ char key;
+ float d = 0.5;
+ int width,height,color;
+
+ 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");
+
+ width = 0;
+
+
+
+
+
+
+ //testing area
+wait( 5 );
+
+// while( 1 )
+// {
+ ++width;
+ device.printf("%d\n",width);
+ if(width==255) width = 0;
+ wait_ms( 50 );
+// }
+
+
+ int frame[200][200][3];
+
+ for(int i=0; i<200; i++)
+ {
+ for(int j=0; j<200; j++)
+ {
+ frame[i][j][0] = 100;
+ frame[i][j][1] = 100;
+ frame[i][j][2] = 100;
+ }
+ }
+
+ while(1)
+ {
+ for(int i=0; i<200; i++)
+ {
+ for(int j=0; j<200; j++)
+ {
+ device.printf("%d\n",frame[i][j][0]);
+
+ wait_ms( 50 );
+ }
+ }
+ }
+
+
+
+
+
+/*
+ device.printf("s"); //start chara
+ for(int i=0; i<200; i++)
+ {
+ for(int j=0; j<200; j++)
+ {
+ device.printf("%d\n",frame[i][j][0]);
+ }
+ device.printf("h"); //horizontal transition
+ }
+ device.printf("e"); //vertical end
+ */
+ //testing area
+
+
+ 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);
+
+ }
+}
+
+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 Sat Dec 10 10:58:29 2011 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/63bcd7ba4912
Yuichi Kawamura