File content as of revision 7:6f5cb6377bd4:

#ifndef MOTOR_H
#define MOTOR_H

#include "mbed.h"
#include "main.h"

#include "QEI.h"

#define BRAKE_VOLTAGE 0.2

extern PwmOut left1;
extern PwmOut left2;
extern PwmOut right1;
extern PwmOut right2;

extern DigitalOut enableLeftMotor;
extern DigitalOut enableRightMotor;

//QEI leftWheel(

inline void enableMotors(){
    enableLeftMotor.write(1);
    enableRightMotor.write(1);
}

inline void rightWheelBackward(double voltage) {
    right1.write(voltage);
    right2.write(0);
}

inline void rightWheelForward(double voltage) {
    right1.write(0);
    right2.write(voltage);
}

inline void leftWheelForward(double voltage) {
    left1.write(0);
    left2.write(voltage);
}

inline void leftWheelBackward(double voltage) {
    left1.write(voltage);
    left2.write(0);
}

inline void brakeLeftWheel() {
    left1.write(BRAKE_VOLTAGE);
    left2.write(BRAKE_VOLTAGE);
}

inline void brakeRightWheel() {
    right1.write(BRAKE_VOLTAGE);
    right2.write(BRAKE_VOLTAGE);
}

inline void brake() {
    brakeLeftWheel();
    brakeRightWheel();
}

inline void coastLeftWheel() {
    left1.write(0);
    left2.write(0);
}

inline void coastRightWheel() {
    right1.write(0);
    right2.write(0);
}

inline void coast() {
    coastLeftWheel();
    coastRightWheel();
}

#endif