Mouse code for the MacroRat
motor.cpp@13:2032db00f168, 2017-05-13 (annotated)
- Committer:
- christine222
- Date:
- Sat May 13 02:40:49 2017 +0000
- Revision:
- 13:2032db00f168
- Parent:
- 12:5790e56a056f
- Child:
- 15:b80555a4a8b9
turning sort of works
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
kyleliangus | 8:a0760acdc59e | 1 | #include "mbed.h" |
kyleliangus | 8:a0760acdc59e | 2 | #include "motor.h" |
kyleliangus | 8:a0760acdc59e | 3 | |
kyleliangus | 8:a0760acdc59e | 4 | void Motor::backward(double voltage) { |
kyleliangus | 12:5790e56a056f | 5 | if(voltage > maxSpeed){ |
kyleliangus | 12:5790e56a056f | 6 | voltage = maxSpeed; |
christine222 | 13:2032db00f168 | 7 | }else if(voltage < minSpeed){ |
christine222 | 13:2032db00f168 | 8 | voltage = minSpeed; |
kyleliangus | 12:5790e56a056f | 9 | } |
kyleliangus | 8:a0760acdc59e | 10 | forw.write(voltage); |
kyleliangus | 8:a0760acdc59e | 11 | back.write(0); |
kyleliangus | 8:a0760acdc59e | 12 | } |
kyleliangus | 8:a0760acdc59e | 13 | |
kyleliangus | 8:a0760acdc59e | 14 | void Motor::forward(double voltage) { |
kyleliangus | 12:5790e56a056f | 15 | if(voltage > maxSpeed){ |
kyleliangus | 12:5790e56a056f | 16 | voltage = maxSpeed; |
christine222 | 13:2032db00f168 | 17 | }else if(voltage < minSpeed){ |
christine222 | 13:2032db00f168 | 18 | voltage = minSpeed; |
kyleliangus | 12:5790e56a056f | 19 | } |
kyleliangus | 8:a0760acdc59e | 20 | forw.write(0); |
kyleliangus | 8:a0760acdc59e | 21 | back.write(voltage); |
kyleliangus | 8:a0760acdc59e | 22 | } |
kyleliangus | 8:a0760acdc59e | 23 | |
kyleliangus | 12:5790e56a056f | 24 | void Motor::move(double voltage) { |
kyleliangus | 12:5790e56a056f | 25 | if(voltage < 0){ |
christine222 | 13:2032db00f168 | 26 | backward(-voltage); |
kyleliangus | 12:5790e56a056f | 27 | } |
kyleliangus | 12:5790e56a056f | 28 | if(voltage > 0){ |
kyleliangus | 12:5790e56a056f | 29 | forward(voltage); |
kyleliangus | 12:5790e56a056f | 30 | } |
kyleliangus | 12:5790e56a056f | 31 | } |
kyleliangus | 12:5790e56a056f | 32 | |
kyleliangus | 8:a0760acdc59e | 33 | |
kyleliangus | 8:a0760acdc59e | 34 | void Motor::brake() { |
kyleliangus | 8:a0760acdc59e | 35 | forw.write(BRAKE_VOLTAGE); |
kyleliangus | 8:a0760acdc59e | 36 | back.write(BRAKE_VOLTAGE); |
kyleliangus | 8:a0760acdc59e | 37 | } |
kyleliangus | 8:a0760acdc59e | 38 | |
kyleliangus | 8:a0760acdc59e | 39 | void Motor::coast() { |
kyleliangus | 8:a0760acdc59e | 40 | forw.write(0); |
kyleliangus | 8:a0760acdc59e | 41 | back.write(0); |
kyleliangus | 8:a0760acdc59e | 42 | } |