arduino stuffs
Diffstat (limited to 'libraries/RobotMotor/CR_Servo/RobotMotor.cpp')
| -rwxr-xr-x | libraries/RobotMotor/CR_Servo/RobotMotor.cpp | 76 |
1 files changed, 0 insertions, 76 deletions
diff --git a/libraries/RobotMotor/CR_Servo/RobotMotor.cpp b/libraries/RobotMotor/CR_Servo/RobotMotor.cpp deleted file mode 100755 index 3df8b1a..0000000 --- a/libraries/RobotMotor/CR_Servo/RobotMotor.cpp +++ /dev/null @@ -1,76 +0,0 @@ -/******************************************************* - RobotMotor.cpp // continuous rotation servo version - - low level motor driver for use with continuous rotation servos and 2WD robot - - Copyright Michael Margolis May 8 2012 -********************************************************/ - -#include <Arduino.h> -#include <Servo.h> -#include "RobotMotor.h" - -Servo myservo[2]; // create instances for two servos - -const int MAX_ANGLE = 60; // number of degrees that motor driven at max speed -const int servoPins[2] = {7,8}; // digital pins connected to servos:(left,right) - - // change sign to reverse direction of the motor -int motorSense[2] = {1,-1}; // 1 increases angle for forward, -1 decreaes - -int motorStopAngle[2] = {90,90}; // inc or dec so motor stops when motorStop is called - -int motorSpeed[2] = {0,0}; // left and right motor speeds 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) -{ - myservo[motor].attach(servoPins[motor]); -} - -// speed range is 0 to 100 -void motorSetSpeed(int motor, int speed) -{ - motorSpeed[motor] = speed; // save the value -} - -void motorForward(int motor, int speed) -{ - motorSetSpeed(motor, speed); - int stopAngle = motorStopAngle[motor]; - int maxSpeedAngle = stopAngle + (MAX_ANGLE * motorSense[motor]); - int angle = map(speed, 0,100, stopAngle, maxSpeedAngle); - myservo[motor].write(angle); -} - -void motorReverse(int motor, int speed) -{ - motorSetSpeed(motor, speed); - int stopAngle = motorStopAngle[motor]; - int maxSpeedAngle = stopAngle - (MAX_ANGLE * motorSense[motor]); - int angle = map(speed, 0,100, stopAngle, maxSpeedAngle); - myservo[motor].write(angle); -} - -void motorStop(int motor) -{ - myservo[motor].write(motorStopAngle[motor]); -} - -void motorBrake(int motor) -{ - myservo[motor].write(motorStopAngle[motor]); -}
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