AresENSEA-CDF2020 / Mbed 2 deprecated AresCDFMainCode

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Dependencies:   mbed DRV8825

Diff: motors.cpp

Revision:
4:ad9b7355332e
Parent:
3:3ba377aafdfd
Child:
5:34ed652f8c31
diff -r 3ba377aafdfd -r ad9b7355332e motors.cpp
--- a/motors.cpp	Wed Jul 15 17:51:04 2020 +0000
+++ b/motors.cpp	Sat Jul 18 17:09:08 2020 +0000
@@ -3,6 +3,8 @@
 
 void drv_init(){
     mot_dis();
+    //mot_en();
+    mode = 0b111; // M0, M1 et M2 sont à 1
 }
 
 // ENABLE/DISABLE // Les deux modules ont le même enable
@@ -22,7 +24,7 @@
 }
 
 void motDroite_fwd(){
-    drvDroite.setDir(FORWARD);
+    drvDroite.setDir(BACKWARD);
 }
 
 // BACKWARD
@@ -31,7 +33,7 @@
 }
 
 void motDroite_bck(){
-    drvDroite.setDir(BACKWARD);
+    drvDroite.setDir(FORWARD);
 }
 
 // TESTS
@@ -39,9 +41,12 @@
 void test_drv(){
     mot_en();
     motGauche_fwd();
-    drvGauche.moveLinSpeed(1);  
+    motDroite_fwd();
+    drvGauche.moveLinSpeed(0.035);
+    drvDroite.moveLinSpeed(0.035);  
     wait(2);
     motGauche_bck();
+    motDroite_bck();
     wait(2);
     mot_dis();
 }