Diff: TB6612.cpp

Revision:

1:051a7ecff13e

Parent:

0:810f315ba3dc

diff -r 810f315ba3dc -r 051a7ecff13e TB6612.cpp
--- a/TB6612.cpp	Tue Oct 23 15:24:30 2012 +0000
+++ b/TB6612.cpp	Mon Nov 12 16:39:11 2012 +0000
@@ -17,29 +17,22 @@
     _rev = 0;
     _pwm = 0.0;
     _pwm.period(0.001);
-    
-    bspeed = 0.0;
-    timer_flag = false;
 }
 
 // Speed Control
 //  arg
-//   float speed -1.0 - 0.0 - 1.0
-void TB6612::speed(float speed) {
-    
-    if( timer_flag == true )    return;
-    
-    bspeed = speed;
-    
-    if( speed > 0.0 )
+//   int speed -100 -- 0 -- 100
+void TB6612::speed(int speed) {
+        
+    if( speed > 0 )
     {
-        _pwm = speed;
+        _pwm = ((float)speed) / 100.0;
         _fwd = 1;
         _rev = 0;
     }
-    else if( speed < 0.0 )
+    else if( speed < 0 )
     {
-        _pwm = -speed;
+        _pwm = -((float)speed) / 100.0;
         _fwd = 0;
         _rev = 1;
     }
@@ -53,19 +46,10 @@
 
 // Speed Control with time-out
 //  arg
-//   float sspeed:-1.0 - 0.0 - 1.0
-//   float time  :0.0-
-void TB6612::move(float sspeed , float time)
+//   int speed -100 -- 0 -- 100
+//   int time  0
+void TB6612::move(int sspeed , int time)
 {
     speed(sspeed);
-    timer_flag = true;
-    timer.attach(this,&TB6612::timeout,time);
+    wait_ms(time);
 }
-
-
-void TB6612::timeout()
-{
-    timer_flag = false;
-    speed(bspeed);
-}
-