arduino stuffs
Diffstat (limited to 'libraries/RobotMotor/Ardumoto/RobotMotor.cpp')
| -rwxr-xr-x | libraries/RobotMotor/Ardumoto/RobotMotor.cpp | 73 |
1 files changed, 0 insertions, 73 deletions
diff --git a/libraries/RobotMotor/Ardumoto/RobotMotor.cpp b/libraries/RobotMotor/Ardumoto/RobotMotor.cpp deleted file mode 100755 index 90b579f..0000000 --- a/libraries/RobotMotor/Ardumoto/RobotMotor.cpp +++ /dev/null @@ -1,73 +0,0 @@ -/******************************************************* - RobotMotor.cpp // Ardumoto version - low level motor driver for use with ardumoto motor shield and 2WD robot - - Michael Margolis May 8 2012 -********************************************************/ - -#include <Arduino.h> -#include "RobotMotor.h" - -const int differential = 0; // % faster left motor turns compared to right - -/****** motor pin defines *************/ -// Pins connected to the motor driver. The PWM pins control the speed, and the -// other pins are select forward and reverse - -// Motor uses pins : 3,11,12,13 -const byte M_PWM_PIN[2] = {11,3}; // ardumoto v13 -const byte M_DIR_PIN[2] = {13,12}; -/* end of motor pin defines */ - -int motorSpeed[2] = {0,0}; // motor speed stored here (0-100%) - -// tables hold time in ms to rotate robot 360 degrees at various speeds -// this enables conversion of rotation angle into timed motor movement -// The speeds are percent of max speed -// Note: low cost motors do not have enough torque at low speeds so -// the robot will not move below this value -// Interpolation is used to get a time for any speed from MIN_SPEED to 100% - -const int MIN_SPEED = 40; // first table entry is 40% speed -const int SPEED_TABLE_INTERVAL = 10; // each table entry is 10% faster speed -const int NBR_SPEEDS = 1 + (100 - MIN_SPEED)/ SPEED_TABLE_INTERVAL; - -int speedTable[NBR_SPEEDS] = {40, 50, 60, 70, 80, 90, 100}; // speeds -int rotationTime[NBR_SPEEDS] = {5500, 3300, 2400, 2000, 1750, 1550, 1150}; // time - -void motorBegin(int motor) -{ - pinMode(M_DIR_PIN[motor], OUTPUT); - motorStop(motor); -} - -// speed range is 0 to 100 -void motorSetSpeed(int motor, int speed) -{ - motorSpeed[motor] = speed; // save the value - speed = map(speed, 0,100, 0,255); // scale to PWM range - analogWrite(M_PWM_PIN[motor], speed); // write the value -} - -void motorForward(int motor, int speed) -{ - digitalWrite(M_DIR_PIN[motor], HIGH); - motorSetSpeed(motor, speed); -} - -void motorReverse(int motor, int speed) -{ - digitalWrite(M_DIR_PIN[motor], LOW); - motorSetSpeed(motor, speed); -} - -void motorStop(int motor) -{ - analogWrite(M_PWM_PIN[motor], 0); -} - -void motorBrake(int motor) -{ - // Ardumoto does not support brake, so just stop the motor - analogWrite(M_PWM_PIN[motor], 0); -}
\ No newline at end of file |