h3n3/darkwater_cplus_640
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quick map test

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This commit is contained in:
shrkey
2016-10-10 20:06:20 +01:00
parent 49371f5054
commit 4d52e029e5
2 changed files with 12 additions and 10 deletions
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20
darkwater/DW640.cpp
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@@ -232,17 +232,14 @@ void DW640::setMotorSpeed(uint8_t motor, int16_t speed) {
}
// Speed deciphering for the two control modes
if( speed >= 1000 && speed < 1500 ) {
} else if( speed > 1500 && speed <= 2000 ) {
printf( "%d - %d", speed, map(speed, 1500, 1000, 0, 255 ) );
} else if( speed > 1500 && speed <= 2000 ) {
printf( "%d - %d", speed, map(speed, 1500, 2000, 0, 255 ) );
} else if( speed > 0 && speed <= 255 ) {
printf("fwd %d", speed);
runMotor( DW_FORWARD, in1, in2, speed );
} else if( speed < 0 && speed >= -255 ) {
printf("rv %d", speed);
runMotor( DW_REVERSE, in1, in2, abs(speed) );
} else if( speed == 0 || speed == 1500 ) {
printf("stp %d", speed);
runMotor( DW_STOP, in1, in2, speed );
}
@@ -269,21 +266,24 @@ void DW640::runMotor( uint8_t control, uint8_t in1, uint8_t in2, uint16_t speed
}
} else { // DW_ININ
if( control == DW_FORWARD ) {
printf( "FWD %d %d %d \n", speed, in1, in2 );
setPin( in2, 0 );
setPWM( in1, 0, speed * 16 );
} else if( control == DW_REVERSE ) {
printf( "REV %d %d %d \n", speed, in1, in2 );
setPin( in1, 0 );
setPWM( in2, 0, speed * 16 );
} else if( control == DW_STOP ) {
printf( "STP %d %d %d \n", speed, in1, in2 );
setPin( in1, 1 );
setPin( in2, 1 );
} else if( control == DW_COAST ) {
printf( "CST %d %d %d \n", speed, in1, in2 );
setPin( in1, 0 );
setPin( in2, 0 );
}
}
}
/* Private functions */
uint16_t DW640::map(uint16_t x, uint16_t in_min, uint16_t in_max, uint16_t out_min, uint16_t out_max)
{
return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
}

2
darkwater/DW640.h
View File

@@ -107,6 +107,8 @@ class DW640 {
PCA9685* pwm;
Pin* modePin;
uint16_t map(uint16_t x, uint16_t in_min, uint16_t in_max, uint16_t out_min, uint16_t out_max);
};