Esempi in C++ (Cpp) per motors_wrapper_right_motor_set_duty_cycle

Esempio n. 1

File: motors_wrapper.c Progetto: darwikey/Eirbot2015

// power the motor in order to test them
// sequence : left motor forward then backward
//            right motor forward then backward
// nether return
void motors_wrapper_test(void)
{
	for (int i = 0; i < 50; ++i)
	{
		motors_wrapper_left_motor_set_duty_cycle(i);
		platform_led_toggle(PLATFORM_LED0);
		for (volatile int t = 0; t < 1000000; t++); //delay
	}
	for (int i = 0; i < 50; ++i)
	{
		motors_wrapper_left_motor_set_duty_cycle(-i);
		platform_led_toggle(PLATFORM_LED1);
		for (volatile int t = 0; t < 1000000; t++);
	}
	for (int i = 0; i < 50; ++i)
	{
		motors_wrapper_right_motor_set_duty_cycle(i);
		platform_led_toggle(PLATFORM_LED2);
		for (volatile int t = 0; t < 1000000; t++);
	}
	for (int i = 0; i < 50; ++i)
	{
		motors_wrapper_right_motor_set_duty_cycle(-i);
		platform_led_toggle(PLATFORM_LED3);
		for (volatile int t = 0; t < 1000000; t++);
	}
	while(1);
}

Esempio n. 2

File: control_system.c Progetto: shazame/ausbeedone

static void control_system_set_motors_ref(struct control_system *UNUSED(am), float d_mm, float theta)
# endif
{
  uint32_t axle_track_mm = position_get_axle_track_mm();

  int32_t right_motor_ref = position_mm_to_ticks(d_mm + (1.0 * axle_track_mm * theta) / 2);
  int32_t left_motor_ref  = position_mm_to_ticks(d_mm - (1.0 * axle_track_mm * theta) / 2);

# ifdef USE_MOTOR_SPEED_CS
  ausbee_cs_set_reference(&(am->csm_right_motor), right_motor_ref);
  ausbee_cs_set_reference(&(am->csm_left_motor), left_motor_ref);
# else
  motors_wrapper_right_motor_set_duty_cycle(NULL, right_motor_ref);
  motors_wrapper_left_motor_set_duty_cycle(NULL, left_motor_ref);
# endif
}