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lego_robot.c
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lego_robot.c
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/*
* lego_robot.c
*
* Author: In Hwan "Chris" Baek
* chris.inhwan.baek@gmail.com
*/
#include <stdio.h>
#include <mraa.h>
#include "lego_robot.h"
mraa_pwm_context pwm1, pwm2;
mraa_gpio_context A1, A2, B1, B2, standbyPin;
void initialize()
{
pwm1 = mraa_pwm_init(20);
mraa_pwm_period_us(pwm1, 870);
mraa_pwm_enable(pwm1, 1);
pwm2 = mraa_pwm_init(14);
mraa_pwm_period_us(pwm2, 870);
mraa_pwm_enable(pwm2, 1);
mraa_pwm_write(pwm1, 0.01);
mraa_pwm_write(pwm2, 0.01);
mraa_pwm_write(pwm1, 0.0);
mraa_pwm_write(pwm2, 0.0);
A1 = mraa_gpio_init(48);
A2 = mraa_gpio_init(36);
mraa_gpio_dir(A1, MRAA_GPIO_OUT);
mraa_gpio_mode(A1, MRAA_GPIO_STRONG);
mraa_gpio_write(A1, 1);
mraa_gpio_dir(A2, MRAA_GPIO_OUT);
mraa_gpio_mode(A2, MRAA_GPIO_STRONG);
mraa_gpio_write(A2, 1);
B1 = mraa_gpio_init(33);
B2 = mraa_gpio_init(46);
mraa_gpio_dir(B1, MRAA_GPIO_OUT);
mraa_gpio_mode(B1, MRAA_GPIO_STRONG);
mraa_gpio_write(B1, 1);
mraa_gpio_dir(B2, MRAA_GPIO_OUT);
mraa_gpio_mode(B2, MRAA_GPIO_STRONG);
mraa_gpio_write(B2, 1);
standbyPin = mraa_gpio_init(47);
mraa_gpio_dir(standbyPin, MRAA_GPIO_OUT);
mraa_gpio_mode(standbyPin, MRAA_GPIO_STRONG);
mraa_gpio_write(standbyPin, 1);
}
void straight (float speed)
{
if (speed >= 0 && speed <= 1.0f) {
mraa_pwm_write(pwm1, speed);
mraa_pwm_write(pwm2, speed);
forward_A();
forward_B();
}
else if (speed < 0 && speed >= -1.0f) {
mraa_pwm_write(pwm1, -speed);
mraa_pwm_write(pwm2, -speed);
reverse_A();
reverse_B();
}
else
printf("Wrong speed value. Choose between -1.0 and 1.0\n");
}
void left_turn ()
{
float speed1 = mraa_pwm_read(pwm1);
float speed2 = mraa_pwm_read(pwm2);
if (speed1 == speed2) {
mraa_pwm_write(pwm1, speed1/3);
}
else if (speed1 > speed2) {
mraa_pwm_write(pwm2, speed1);
mraa_pwm_write(pwm1, speed2);
}
}
void right_turn ()
{
float speed1 = mraa_pwm_read(pwm1);
float speed2 = mraa_pwm_read(pwm2);
if (speed1 == speed2) {
mraa_pwm_write(pwm2, speed2/3);
}
else if (speed2 > speed1) {
mraa_pwm_write(pwm1, speed2);
mraa_pwm_write(pwm2, speed1);
}
}
void rotate_CW()
{
forward_B();
reverse_A();
}
void rotate_CCW()
{
forward_A();
reverse_B();
}
void forward_A()
{
mraa_gpio_write(A1, 0);
mraa_gpio_write(A2, 1);
}
void reverse_A()
{
mraa_gpio_write(A1, 1);
mraa_gpio_write(A2, 0);
}
void forward_B()
{
mraa_gpio_write(B1, 0);
mraa_gpio_write(B2, 1);
}
void reverse_B()
{
mraa_gpio_write(B1, 1);
mraa_gpio_write(B2, 0);
}
void standby(int disable)
{
if (disable == 1)
mraa_gpio_write(standbyPin, 0);
else
mraa_gpio_write(standbyPin, 1);
}
void brake_A()
{
mraa_gpio_write(A1, 1);
mraa_gpio_write(A2, 1);
}
void brake_B()
{
mraa_gpio_write(B1, 1);
mraa_gpio_write(B2, 1);
}
void stop()
{
brake_A();
brake_B();
}
void set_speed(float speed)
{
mraa_pwm_write(pwm1, speed);
mraa_pwm_write(pwm2, speed);
}