Revision 0:01a8e9b87e2f, committed 2009-09-20
- Comitter:
- chris
- Date:
- Sun Sep 20 23:27:39 2009 +0000
- Commit message:
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Motor.cpp Sun Sep 20 23:27:39 2009 +0000
@@ -0,0 +1,32 @@
+#include "Motor.h"
+#include "mbed.h"
+
+
+// ==================================================================
+// Constructor
+// ==================================================================
+Motor::Motor(PinName pwm, PinName fwd, PinName rev):
+ _pwm(pwm), _fwd(fwd), _rev(rev) {
+
+ // Set initial condition of PWM
+ _pwm.period(0.001);
+ _pwm = 0;
+
+ // Initial condition of output enables
+ _fwd = 0;
+ _rev = 0;
+
+}
+
+
+// ==================================================================
+// Set the motor speed and direction
+// ==================================================================
+void Motor::speed(float speed) {
+ _fwd = (speed > 0.0);
+ _rev = (speed < 0.0);
+ _pwm = abs(speed);
+}
+
+
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Motor.h Sun Sep 20 23:27:39 2009 +0000
@@ -0,0 +1,20 @@
+#ifndef MBED_MOTOR_H
+#define MBED_MOTOR_H
+
+#include "mbed.h"
+
+class Motor {
+
+ public:
+
+ Motor(PinName pwm, PinName fwd, PinName rev);
+ void speed (float);
+
+ protected:
+ PwmOut _pwm;
+ DigitalOut _fwd;
+ DigitalOut _rev;
+
+};
+
+#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sun Sep 20 23:27:39 2009 +0000
@@ -0,0 +1,122 @@
+#include "mbed.h"
+#include "Motor.h"
+
+/*
+ * This code reads command files to control the motors.
+ * The file name it reads is command.txt
+ *
+ * The file format is :
+ *
+ * <command> <data>
+ *
+ * The commands are :
+ *
+ * F - Forward, both motor on full speed forwards
+ * B - Backwards, both motors on full speed in reverse
+ * L - Left, left motor full speed backwards, right motor full speed forward
+ * R - Right, right motor full speed backwards, left motor full speed forward
+ * W - Wait, both motors stop
+ *
+ * Data :
+ *
+ * Data is a time in milliseconds to carry out the command.
+ *
+ * Example :
+ *
+ * F 1000
+ * W 200
+ * L 1000
+ * W 200
+ * R 1000
+ * W 200
+ * B 1000
+ * W 200
+ */
+
+
+LocalFileSystem local("local");
+
+Serial pc(USBTX, USBRX);
+
+BusOut leds(LED1,LED2,LED3,LED4);
+
+Motor left(p23, p6, p5);
+Motor right(p24, p8, p7);
+
+
+int main() {
+
+ leds = 0x0;
+
+ // flash the LED 3 time before starting
+ for (int i=0; i < 3 ; i++) {
+ leds = 0x1;
+ wait (0.5);
+ leds = 0x0;
+ wait (0.5);
+ }
+
+ // Open the command.txt file
+ FILE *commandfile = fopen("/local/command.txt", "r");
+
+ // If there is no file, sit flashing the LEDs
+ if (commandfile == NULL) {
+ while(1) {
+ leds = 0xf;
+ wait(0.5);
+ leds = 0x0;
+ wait(0.5);
+ }
+ }
+
+ // process each of the commands in the file
+ while (!feof(commandfile)) {
+
+ char command = 0;
+ int data = 0.0;
+
+ // Read from the command file
+ fscanf(commandfile, "%c %d\n", &command, &data);
+
+ if((command=='f') || (command=='F')){
+ left.speed(1);
+ right.speed(1);
+ }
+ else if((command=='b') || (command=='B')){
+ left.speed(-1);
+ right.speed(-1);
+ }
+ else if((command=='l') || (command=='L')){
+ left.speed(-1);
+ right.speed(1);
+ }
+ else if ((command=='r') || (command=='R')){
+ left.speed(1);
+ right.speed(-1);
+ }
+ // Wait commands
+ else if ((command=='w') || (command=='W')){
+ }
+
+ // wait for the length of the command
+ wait(data/1000.0);
+
+ // Switch the motors off
+ left.speed(0);
+ right.speed(0);
+
+
+ } // this is the end of the file while loop
+
+
+ for (int i=0;i<10;i++) {
+ leds = 0x0;
+ wait (0.2);
+ leds = 0xf;
+ wait (0.2);
+ }
+
+ fclose(commandfile);
+ exit(0);
+
+} // end of main
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld Sun Sep 20 23:27:39 2009 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/f63353af7be8
Chris Styles