Betago / Mbed 2 deprecated BETAGO

10/25/2015

Dependencies:   PID mbed MaxSonar eeprom iSerial Fork_Boss_Communication_Robot

move.cpp

Committer:
palmdotax
Date:
2016-01-17
Revision:
9:86701fec3f79
Parent:
8:8fbc0c858875
Child:
11:9df7ada37d31

File content as of revision 9:86701fec3f79:

#include "mbed.h"
#include "move.h"



DigitalOut dir1(PA_5);
DigitalOut dir2(PA_6);
PwmOut speeds(PA_5);
DigitalOut dirr1(PB_6);
DigitalOut dirr2(PC_7);
PwmOut speeds2(PA_7);
DigitalOut relays(PA_8);
 void move:: movespeed_1(int dir,float setpoint,float spd)
{
     double dc=0;
     if(dir==1)
     {
         dir1=1;
         dir2=0;
     }
     else
     {
         dir1=0;
         dir2=1;
     }
      dc=setpoint+spd;
      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);
      
             
}
void move::pump(int on_off)
{
    relays=on_off;
}