Mouse code for the MacroRat
Diff: motor.cpp
- Revision:
- 12:5790e56a056f
- Parent:
- 8:a0760acdc59e
- Child:
- 13:2032db00f168
diff -r 8fc2b703086b -r 5790e56a056f motor.cpp --- a/motor.cpp Sun May 07 01:13:42 2017 +0000 +++ b/motor.cpp Fri May 12 23:25:07 2017 +0000 @@ -2,15 +2,34 @@ #include "motor.h" void Motor::backward(double voltage) { + if(voltage > maxSpeed){ + voltage = maxSpeed; + }else if(voltage < 0){ + voltage = 0.0; + } forw.write(voltage); back.write(0); } void Motor::forward(double voltage) { + if(voltage > maxSpeed){ + voltage = maxSpeed; + }else if(voltage < 0){ + voltage = 0.0; + } forw.write(0); back.write(voltage); } +void Motor::move(double voltage) { + if(voltage < 0){ + backward(voltage); + } + if(voltage > 0){ + forward(voltage); + } +} + void Motor::brake() { forw.write(BRAKE_VOLTAGE);