Diff: motor.cpp

Revision:

15:b80555a4a8b9

Parent:

13:2032db00f168

diff -r 9e7bb03ddccb -r b80555a4a8b9 motor.cpp
--- a/motor.cpp	Sat May 13 23:49:02 2017 +0000
+++ b/motor.cpp	Sun May 14 04:45:21 2017 +0000
@@ -7,8 +7,9 @@
     }else if(voltage < minSpeed){
         voltage = minSpeed;
     }
-    forw.write(voltage);
-    back.write(0);
+    enableForw.write(0);
+    enableBack.write(1);
+    motorSpeed.write( voltage );
 }
 
 void Motor::forward(double voltage) {
@@ -17,8 +18,9 @@
     }else if(voltage < minSpeed){
         voltage = minSpeed;
     }
-    forw.write(0);
-    back.write(voltage);
+    enableForw.write(1);
+    enableBack.write(0);
+    motorSpeed.write( voltage );
 }
 
 void Motor::move(double voltage) {
@@ -32,11 +34,13 @@
 
 
 void Motor::brake() {
-    forw.write(BRAKE_VOLTAGE);
-    back.write(BRAKE_VOLTAGE);
+    enableForw.write(1);
+    enableBack.write(1);
+    motorSpeed.write( BRAKE_VOLTAGE );
 }
 
 void Motor::coast() {
-    forw.write(0);
-    back.write(0);
+    enableForw.write(0);
+    enableBack.write(0);
+    motorSpeed.write( 0 );
 }
\ No newline at end of file