Hardware Reference
In-Depth Information
Solution
To make this recipe, you will need:
▪ An oscilloscope (see
“Miscellaneous”
)
Break down your design into functional subcomponents and write tests for each. Use com-
ponents you already know are working, such as the onboard LEDs, to display the test status
with the code in
Example 9-1
.
Example 9-1. Testing the quickBot motors interface (quickBot_motor_test.js)
#!/usr/bin/env node
var b = require('bonescript');
var M1_SPEED = 'P9_16';
var M1_FORWARD = 'P8_15';
var M1_BACKWARD = 'P8_13';
var M2_SPEED = 'P9_14';
var M2_FORWARD = 'P8_9';
var M2_BACKWARD = 'P8_11';
var freq = 50;
var fast = 0.95;
var slow = 0.7;
var state = 0;
b.pinMode(M1_FORWARD, b.OUTPUT);
b.pinMode(M1_BACKWARD, b.OUTPUT);
b.pinMode(M2_FORWARD, b.OUTPUT);
b.pinMode(M2_BACKWARD, b.OUTPUT);
b.analogWrite(M1_SPEED, 0, freq);
b.analogWrite(M2_SPEED, 0, freq);
updateMotors();
function updateMotors() {
//console.log("Setting state = " + state);
updateLEDs(state);
switch(state) {
case 0:
default:
M1_set(0);
M2_set(0);
state = 1;
break;
case 1:
