DCS_TEAM / Mbed 2 deprecated Chemical_Sensor_DMA

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Dependencies:   mbed

Dependents:   DCS_FINAL_CODE

Fork of Chemical_Sensor_DMA by Jared Baxter

MotorControl.cpp

Committer:
baxterja
Date:
2015-11-06
Revision:
5:1b2dc43e8947
Parent:
2:3771b3195c7b

File content as of revision 5:1b2dc43e8947:

#include "MotorControl.h"
#include "mbed.h"

// constructor 
MotorControl::MotorControl(PinName cw, PinName ccw, int period, int safetyPeriod) :  
        _cw(cw),
        _ccw(ccw) {
    
    // turn motor off
    _cw = 0;
    _ccw = 0;
    
    _cw.period_us(period);
    _ccw.period_us(period);
    
    _period = period;
    _safetyPeriod = safetyPeriod;
}

void MotorControl::off() {
    _cw = 0;
    _ccw = 0;    
    pause_us(_safetyPeriod);
}

void MotorControl::clockwise(float dutyCycle) {
    _cw = dutyCycle;
}

void MotorControl::releaseMallet() {
    // make sure motor is off
    off();
    
    // pulse clockwise to release mallet
    _cw = 1;
    pause_ms(10);
    _cw = 0;
    pause_ms(75);
    
    // pulse counter-clockwise to stop snail cam
    _ccw = 0.7;
    pause_ms(8);
    _ccw = 0;
    
    // make sure motor is off
    off();
}

void MotorControl::reset() {
    
}

void MotorControl::hardReset(int duration) {
    // make sure motor is off
    off();
    
    // long pulse clockwise to reset mallet
    _cw = 1;
    pause_ms(200);
    _cw = 0;
    
    // short pulse counter-clockwise to stop snail cam
    _ccw = 1;
    pause_ms(10);
    _ccw = 0;
    
    
    wait_ms(duration);
    // short pulse counter-clockwise to set snail cam in groove on mallet
    _ccw = 1;
    pause_ms(3);
    _ccw = 0;
    
    // make sure motor is off
    off();
}