Motor Calibration #105
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Motor Calibration #105
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[x] Compiles on PC
[x] Compiles on Teensy
### Added
* ArduinoDummy
* A class with some Arduino dummy functions, so we don't have to use
#ifdef blocks every time we want to call a function like
digitalWrite().
* Memory
* Addresses 0-31 in the memory class are now
used for motor calibration data. Added constants for address
locations.
* Motor
* calibrate()
* For each direction,
calculates the lowest voltage that still turns the motor.
*
loadCalibration()
* Loads the calibration data from memory.
* saveCalibration()
* Saves the calibration data to memory.
* setVoltage()
* Where setMovement() takes a value between -1
and 1, setVoltage() takes an int between 0 and 255. It directly sets the
PWM pin, but not lower than the minimum calibrated voltage.
* RobotIO
* calibrateMotors()
* Calibrates the left and right motors, and
saves the data.
* Timer
* sleep()
* Sleeps for a given
number of seconds.
# Changed
* Controller::debug() now calls
testMotors() instead of mapMaze()
* As long as speed != 0,
Motor::setMovement() will move at the slowest calibrated speed.
*
MouseBot::robotIO is now public.
# Removed
* A bunch of #ifdef blocks
from Motor.cpp
| leftMotor.setMaxSpeed(1.0f); | ||
| timer.start(); | ||
| pid.start(millimeters); | ||
| float avgMove = 10000000000000000000000000000000000000.0f; |
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