Aaron Birenboim / Mbed 2 deprecated TankDrive Featured

Basic tank-style drive robot control firmware for Freescale FRDM-K64F. Controls motors on a Dual-Full-H-Bridge with EN, like DBH-1x series, from Bluetooth serial commands

Dependencies:   mbed

MotorDriveBase.h@4:7620d21baef3, 2015-08-16 (annotated)

Committer:
Mr_What
Date:
Sun Aug 16 22:46:25 2015 +0000
Revision:
4:7620d21baef3
Parent:
1:23d0a615756a 
seems to be running from app with reduced diagnostics

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Mr_What 0:41ca27337c2b 1 // Generic interface for "standard" H-Bridge motor driver
Mr_What 0:41ca27337c2b 2
Mr_What 0:41ca27337c2b 3 class MotorDriveBase
Mr_What 0:41ca27337c2b 4 {
Mr_What 0:41ca27337c2b 5 virtual void stop() = 0;
Mr_What 0:41ca27337c2b 6 virtual void emergencyStop() = 0;
Mr_What 0:41ca27337c2b 7
Mr_What 0:41ca27337c2b 8
Mr_What 0:41ca27337c2b 9 // Set speed -MAX_PWM for max reverse, MAX_PWM for max forward
Mr_What 1:23d0a615756a 10 inline void setSpeed(const float spdReq)
Mr_What 0:41ca27337c2b 11 {
Mr_What 0:41ca27337c2b 12 setSpeed(spdReq,millis());
Mr_What 0:41ca27337c2b 13 }
Mr_What 0:41ca27337c2b 14
Mr_What 0:41ca27337c2b 15 // many (all?) drivers may have some mode transition times and pauses.
Mr_What 0:41ca27337c2b 16 // use these to indicate current time, to avoid repeated calls to millis()
Mr_What 1:23d0a615756a 17 virtual void setSpeed(const float spd, const int t) = 0; // pass in current time
Mr_What 1:23d0a615756a 18 virtual void update(int t) = 0; // check if some sort of state change needs to be processed
Mr_What 0:41ca27337c2b 19 };