File content as of revision 1:e694ee3b4a7f:

#include "Mousr.h"

Mousr::Mousr() : m1a(p24), m1b(p23), m2a(p22), m2b(p21)
{           
    straightSpeed     = 0.7;
    rotateSlowSpeed   = 0.1;
    rotateSpeed       = 0.3;
    rotateFastSpeed   = 0.9;
    flipStraightSpeed = 0.9;
    flipStraightWait  = 0.6;
    flipRotateSpeed   = 0.9;
    flipRotateWait    = 0.2;
}

void Mousr::stop()
{
    m1a = 0; m2a = 0; m1b = 0; m2b = 0; return;
}

void Mousr::straight(float speed)
{
    m1a = speed; m1b = 0; m2a = speed; m2b = 0; return;
}

void Mousr::backwards(float speed)
{
    m1a = 0; m2a = 0; m1b = speed; m2b = speed; return;
}

void Mousr::left(float speed)
{
    m1a = 0; m1b = speed; m2a = speed; m2b = 0; return;
}

void Mousr::right(float speed)
{
    m1a = speed; m1b = 0; m2a = 0; m2b = speed; return;
}

void Mousr::flipLeft()
{
    straight(flipStraightSpeed);
    wait(flipStraightWait);
    left(flipRotateSpeed);
    wait(flipRotateWait);
    stop();
}

void Mousr::flipRight()
{
    straight(flipStraightSpeed);
    wait(flipStraightWait);
    right(flipRotateSpeed);
    wait(flipRotateWait);
    stop();
}

// GETTER FUNCTIONS
float Mousr::getStraightSpeed()
{
    return straightSpeed;
}

float Mousr::getRotateSlowSpeed()
{
    return rotateSlowSpeed;
}

float Mousr::getRotateSpeed()
{
    return rotateSpeed;
}

float Mousr::getRotateFastSpeed()
{
    return rotateFastSpeed;
}