v1
Dependencies: BEAR_Protocol_Edited BufferedSerial Debug MaxSonar PID Process QEI UI iSerial mbed
Fork of CleaningMachine_Betago by
Diff: move.cpp
- Revision:
- 1:45f1573d65a1
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/move.cpp Mon Mar 21 20:21:12 2016 +0000 @@ -0,0 +1,52 @@ +#include "mbed.h" +#include "move.h" + + + +DigitalOut dir1(PC_10); +DigitalOut dir2(PC_12); +PwmOut speeds(PA_5); +DigitalOut dirr1(PB_6); +DigitalOut dirr2(PC_7); +PwmOut speeds2(PA_7); +DigitalOut relays(PA_8); + void move:: movespeed_1(float setpoint,float spd) +{ + double dc=0; + if(setpoint>=0) + { + dir1=1; + dir2=0; + } + else + { + dir1=0; + dir2=1; + } + dc=setpoint+spd; + speeds.write(dc); + + +} +void move:: movespeed_2(float setpoint,float spd) +{ + double dc=0; + if(setpoint>=0) + { + dirr1=1; + dirr2=0; + } + else + { + dirr1=0; + dirr2=1; + } + dc=setpoint+spd; + speeds.write(dc); + + +} +void move::pump(int on_off) +{ + relays=on_off; +} \ No newline at end of file