Betago
10/25/2015
Dependencies: PID mbed MaxSonar eeprom iSerial Fork_Boss_Communication_Robot
Diff: move.cpp
- Revision:
- 8:8fbc0c858875
- Parent:
- 6:9ed82a812ece
- Child:
- 9:86701fec3f79
--- a/move.cpp Tue Oct 27 06:27:56 2015 +0000
+++ b/move.cpp Mon Dec 14 19:35:08 2015 +0000
@@ -6,7 +6,10 @@
DigitalOut dir1(D6);
DigitalOut dir2(D7);
PwmOut speeds(PC_8);
- void move:: movespeed(int dir,float setpoint,float spd)
+DigitalOut dirr1(D4);
+DigitalOut dirr2(D5);
+PwmOut speeds2(D3);
+ void move:: movespeed_1(int dir,float setpoint,float spd)
{
double dc=0;
if(dir==1)
@@ -23,4 +26,22 @@
speeds.write(dc);
+}
+void move:: movespeed_2(int dir,float setpoint,float spd)
+{
+ double dc=0;
+ if(dir==1)
+ {
+ dirr1=1;
+ dirr2=0;
+ }
+ else
+ {
+ dirr1=0;
+ dirr2=1;
+ }
+ dc=setpoint+spd;
+ speeds.write(dc);
+
+
}
\ No newline at end of file