AKM Development Platform

Diff: AP1017.cpp

Revision:

10:16d45e3f4be3

Parent:

9:1ca7d16de1c4

Child:

11:fe157aefa7e7

--- a/AP1017.cpp	Fri May 19 23:09:27 2017 +0000
+++ b/AP1017.cpp	Wed Nov 08 21:37:24 2017 +0000
@@ -1,5 +1,4 @@
 #include "AP1017.h"
-#include "debug.h"
 
 /******************** Constructors & Destructors ****************************/
 
@@ -37,37 +36,37 @@
         case DIRECTION_CW:                              // direction = 0x00
             if(isMotorOn())
             {
-                MSG("#AP1017.cpp: Error. Cannot change direction while motor is running.\r\n");
+                MSG("#Error: Cannot change direction while motor is running.\r\n");
                 return ERROR_MOTORON;
             }else
             {
                 inA->write(1);
                 inB->write(0);
-                MSG("#AP1017.cpp: Direction: CCW\r\n");
+                MSG("#Direction: CCW\r\n");
             }
             break;
         case DIRECTION_CCW:                                 // direction = 0x01
             if(isMotorOn())
             {
-                MSG("#AP1017.cpp: Error. Cannot change direction while motor is running.\r\n");
+                MSG("#Error: Cannot change direction while motor is running.\r\n");
                 return ERROR_MOTORON;
             }else
             {
                 inA->write(0);
                 inB->write(1);
-                MSG("#AP1017.cpp: Direction: CW\r\n");
+                MSG("#Direction: CW\r\n");
             }
             break;
         case DIRECTION_BRAKE:                              // direction = 0x03
             inA->write(1);
             inB->write(1);
-            MSG("#AP1017.cpp: Direction: Brake\r\n");
+            MSG("#Direction: Brake\r\n");
             break;
         case DIRECTION_COAST:                              // direction = 0x04
             inA->write(0);
             inB->write(0);
             motorOn = false;
-            MSG("#AP1017.cpp: Direction: Coast\r\n");
+            MSG("#Direction: Coast\r\n");
             break;
         default:
             return ERROR_DIRECTION;
@@ -79,6 +78,23 @@
 
 AP1017::Rotation AP1017::getDirection(void)
 {
+    MSG("#Direction: ");
+    switch(direction){
+        case DIRECTION_CW:
+            MSG("CW\r\n");
+            break;
+        case DIRECTION_CCW:
+            MSG("CCW\r\n");
+            break;
+        case DIRECTION_COAST:
+            MSG("Coast\r\n");
+            break;
+        case DIRECTION_BRAKE:
+            MSG("Brake\r\n");
+            break;
+        default:
+            MSG("Error: Invalid direction\r\n");
+    }
     return direction;
 }
 
@@ -90,13 +106,13 @@
         dutyCycle = dc/100.0;
 
         if(motorOn == true){
-            MSG("#AP1017.cpp: Changed running motor speed.\r\n");
+            MSG("Speed setting not yet implemented.\r\n");
+            //MSG("#Changed running motor speed: %.1f%%.\r\n", dc);
         }
     }
     else
     {
         dutyCycle = 0.0;
-
         return ERROR_DUTY_CYCLE;
     }
 
@@ -106,6 +122,7 @@
 
 float AP1017::getSpeed(void)
 {
+    MSG("Speed: %.1f%%\r\n.", dutyCycle*100.0);
     return dutyCycle*100.0;
 }