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

Diff: MotorDrive298.h

Revision:
4:7620d21baef3
Parent:
3:502f90649834
--- a/MotorDrive298.h	Thu Aug 13 17:50:28 2015 +0000
+++ b/MotorDrive298.h	Sun Aug 16 22:46:25 2015 +0000
@@ -117,10 +117,10 @@
   MotorDrive (PinName namEN, PinName namIN1, PinName namIN2, PinName namCS) :
        IN1(namIN1),
        IN2(namIN2),
+#ifdef DBH1
+       CS(namCS),
+#endif
        EN(namEN)
-#ifdef DBH1
-       ,CS(namCS)
-#endif
   {
       EN.write(0.0f);
       IN2.write(0.0f);
@@ -153,10 +153,10 @@
     //BYTE EN;        // enable pin
     //SHORT _speed;     // current speed
     //SHORT _speedCmd;  // commanded speed
-    CmdSerial.printf("Decel %d ms from ful speed\r\n",_decel);
+    DiagSerial.printf("Decel %d ms from ful speed\r\n",_decel);
     //BYTE _mode;
     //unsigned long _doneTime;  // time when mode automatically transitions
-    CmdSerial.printf("Deadman Timeout %d ms\r\n",_deadTime);
+    DiagSerial.printf("Deadman Timeout %d ms\r\n",_deadTime);
   //SHORT _maxPWM;      // clip PWM commands to this magnitude
   //SHORT _startupTime; // ms of full-power pulse to start from dead stop
   //SHORT _stopTime;    // ms to lock-out commands after emergency stop
@@ -179,7 +179,7 @@
 
   virtual void emergencyStop()
   {
-    CmdSerial.puts("Emergency ");
+    DiagSerial.puts("Emergency ");
     _msgCount = 11;  // turn on diagnostics for a few commands
     stop();
     _speedCmd=0;
@@ -259,7 +259,7 @@
             _doneTime = t + _deadTime;
             setReverse(_mode == MOTOR_REV);  // make sure direction is correct
             EN.write(getPWM(_speedCmd));           // analogWrite(Pin.EN,getPWM(_speedCmd));
-            if(_msgCount>0){_msgCount--;CmdSerial.printf("Started %.3f\r\n",_speedCmd);}
+            if(_msgCount>0){_msgCount--;DiagSerial.printf("Started %.3f\r\n",_speedCmd);}
           }
         return;
       }