{"id":398,"date":"2013-02-17T20:10:28","date_gmt":"2013-02-18T04:10:28","guid":{"rendered":"http:\/\/micromouseusa.com\/?p=398"},"modified":"2013-02-25T16:41:34","modified_gmt":"2013-02-26T00:41:34","slug":"always-the-first-function-to-test-when-mouse-is-constructed","status":"publish","type":"post","link":"http:\/\/micromouseusa.com\/?p=398","title":{"rendered":"always the first function to test when mouse is constructed"},"content":{"rendered":"

I got my mouse constructed recently, everything were fine except the external crystal wasn’t oscillating, so I used internal crystal instead.<\/p>\n

\"IMG_0902_resize\"<\/a> \"IMG_0907_resize\"<\/a> \"IMG_0917_resize\"<\/a> \"IMG_0922_resize\"<\/a><\/p>\n

There is always an first function you want to test on your mouse after all devices are properly settled. My favorite function is the one that makes mouse keep distance with wall by using 2 front sensors, also it’s the easiest function for me to write. Here is the code for this function:<\/p>\n

void adjuster(void)<\/span>
\n {<\/span>
\n int curt = micros();\/\/start to track time in order to make one adjust every 1000us<\/span>
\n readSensor();<\/span>
\n setLeftPwm((2900- LFSensor));\/\/set left motor speed<\/span>
\n setRightPwm((2500 – RFSensor));\/\/set right motor speed<\/span>
\n TIM2->CNT=25000;\/\/keep resetting encoder counts prevent overflow<\/span>
\n TIM3->CNT=25000;<\/span>
\n elapseMicros(1000, curt);\/\/elapse 1000 micro seconds<\/span>
\n }<\/span><\/p>\n

I also took a video to DEMO this function:<\/p>\n