Betago / Mbed 2 deprecated clean_V1

v1

Dependencies:   BEAR_Protocol_Edited BufferedSerial Debug MaxSonar PID Process QEI UI iSerial mbed

Fork of CleaningMachine_Betago by palm and chin

move.cpp

Committer:
palmdotax
Date:
2016-06-07
Revision:
6:adf1f4351f9f
Parent:
1:45f1573d65a1

File content as of revision 6:adf1f4351f9f:

#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;
}