MacroRat / MouseCode

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Dependencies:   ITG3200 QEI

motor.cpp

Committer:
christine222
Date:
2017-05-18
Revision:
21:9a6cb07bdcb6
Parent:
15:b80555a4a8b9

File content as of revision 21:9a6cb07bdcb6:

#include "mbed.h"
#include "motor.h"

void Motor::backward(double voltage) {
    if(voltage > maxSpeed){
        voltage = maxSpeed;
    }else if(voltage < minSpeed){
        voltage = minSpeed;
    }
    enableForw.write(0);
    enableBack.write(1);
    motorSpeed.write( voltage );
}

void Motor::forward(double voltage) {
    if(voltage > maxSpeed){
        voltage = maxSpeed;
    }else if(voltage < minSpeed){
        voltage = minSpeed;
    }
    enableForw.write(1);
    enableBack.write(0);
    motorSpeed.write( voltage );
}

void Motor::move(double voltage) {
    if(voltage < 0){
        backward(-voltage);
    }
    if(voltage > 0){
        forward(voltage);
    }
}


void Motor::brake() {
    enableForw.write(1);
    enableBack.write(1);
    motorSpeed.write( BRAKE_VOLTAGE );
}

void Motor::coast() {
    enableForw.write(0);
    enableBack.write(0);
    motorSpeed.write( 0 );
}