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Dependencies:   mbed

Fork of RCControlOOP by DP

Mousr.cpp@1:e694ee3b4a7f, 2014-09-21 (annotated)

Committer:
mfillinois
Date:
Sun Sep 21 14:43:47 2014 +0000
Revision:
1:e694ee3b4a7f
Parent:
0:78e2af20cbf3
Child:
2:e9042e88abf1
OOP RC

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mfillinois 0:78e2af20cbf3 1 #include "Mousr.h"
mfillinois 0:78e2af20cbf3 2
mfillinois 0:78e2af20cbf3 3 Mousr::Mousr() : m1a(p24), m1b(p23), m2a(p22), m2b(p21)
mfillinois 0:78e2af20cbf3 4 {
mfillinois 1:e694ee3b4a7f 5 straightSpeed = 0.7;
mfillinois 1:e694ee3b4a7f 6 rotateSlowSpeed = 0.1;
mfillinois 1:e694ee3b4a7f 7 rotateSpeed = 0.3;
mfillinois 1:e694ee3b4a7f 8 rotateFastSpeed = 0.9;
mfillinois 1:e694ee3b4a7f 9 flipStraightSpeed = 0.9;
mfillinois 1:e694ee3b4a7f 10 flipStraightWait = 0.6;
mfillinois 1:e694ee3b4a7f 11 flipRotateSpeed = 0.9;
mfillinois 1:e694ee3b4a7f 12 flipRotateWait = 0.2;
mfillinois 0:78e2af20cbf3 13 }
mfillinois 0:78e2af20cbf3 14
mfillinois 0:78e2af20cbf3 15 void Mousr::stop()
mfillinois 0:78e2af20cbf3 16 {
mfillinois 0:78e2af20cbf3 17 m1a = 0; m2a = 0; m1b = 0; m2b = 0; return;
mfillinois 0:78e2af20cbf3 18 }
mfillinois 0:78e2af20cbf3 19
mfillinois 0:78e2af20cbf3 20 void Mousr::straight(float speed)
mfillinois 0:78e2af20cbf3 21 {
mfillinois 0:78e2af20cbf3 22 m1a = speed; m1b = 0; m2a = speed; m2b = 0; return;
mfillinois 0:78e2af20cbf3 23 }
mfillinois 0:78e2af20cbf3 24
mfillinois 0:78e2af20cbf3 25 void Mousr::backwards(float speed)
mfillinois 0:78e2af20cbf3 26 {
mfillinois 0:78e2af20cbf3 27 m1a = 0; m2a = 0; m1b = speed; m2b = speed; return;
mfillinois 0:78e2af20cbf3 28 }
mfillinois 0:78e2af20cbf3 29
mfillinois 0:78e2af20cbf3 30 void Mousr::left(float speed)
mfillinois 0:78e2af20cbf3 31 {
mfillinois 0:78e2af20cbf3 32 m1a = 0; m1b = speed; m2a = speed; m2b = 0; return;
mfillinois 0:78e2af20cbf3 33 }
mfillinois 0:78e2af20cbf3 34
mfillinois 0:78e2af20cbf3 35 void Mousr::right(float speed)
mfillinois 0:78e2af20cbf3 36 {
mfillinois 0:78e2af20cbf3 37 m1a = speed; m1b = 0; m2a = 0; m2b = speed; return;
mfillinois 0:78e2af20cbf3 38 }
mfillinois 0:78e2af20cbf3 39
mfillinois 0:78e2af20cbf3 40 void Mousr::flipLeft()
mfillinois 0:78e2af20cbf3 41 {
mfillinois 0:78e2af20cbf3 42 straight(flipStraightSpeed);
mfillinois 0:78e2af20cbf3 43 wait(flipStraightWait);
mfillinois 0:78e2af20cbf3 44 left(flipRotateSpeed);
mfillinois 0:78e2af20cbf3 45 wait(flipRotateWait);
mfillinois 1:e694ee3b4a7f 46 stop();
mfillinois 0:78e2af20cbf3 47 }
mfillinois 0:78e2af20cbf3 48
mfillinois 0:78e2af20cbf3 49 void Mousr::flipRight()
mfillinois 0:78e2af20cbf3 50 {
mfillinois 0:78e2af20cbf3 51 straight(flipStraightSpeed);
mfillinois 0:78e2af20cbf3 52 wait(flipStraightWait);
mfillinois 0:78e2af20cbf3 53 right(flipRotateSpeed);
mfillinois 0:78e2af20cbf3 54 wait(flipRotateWait);
mfillinois 1:e694ee3b4a7f 55 stop();
mfillinois 0:78e2af20cbf3 56 }
mfillinois 0:78e2af20cbf3 57
mfillinois 0:78e2af20cbf3 58 // GETTER FUNCTIONS
mfillinois 0:78e2af20cbf3 59 float Mousr::getStraightSpeed()
mfillinois 0:78e2af20cbf3 60 {
mfillinois 0:78e2af20cbf3 61 return straightSpeed;
mfillinois 0:78e2af20cbf3 62 }
mfillinois 0:78e2af20cbf3 63
mfillinois 0:78e2af20cbf3 64 float Mousr::getRotateSlowSpeed()
mfillinois 0:78e2af20cbf3 65 {
mfillinois 1:e694ee3b4a7f 66 return rotateSlowSpeed;
mfillinois 0:78e2af20cbf3 67 }
mfillinois 0:78e2af20cbf3 68
mfillinois 0:78e2af20cbf3 69 float Mousr::getRotateSpeed()
mfillinois 0:78e2af20cbf3 70 {
mfillinois 1:e694ee3b4a7f 71 return rotateSpeed;
mfillinois 0:78e2af20cbf3 72 }
mfillinois 0:78e2af20cbf3 73
mfillinois 0:78e2af20cbf3 74 float Mousr::getRotateFastSpeed()
mfillinois 0:78e2af20cbf3 75 {
mfillinois 1:e694ee3b4a7f 76 return rotateFastSpeed;
mfillinois 0:78e2af20cbf3 77 }