Diff: hack_motor.cpp

Revision:

0:d3dbe632b1a9

Child:

7:a852e63cac3d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/hack_motor.cpp	Mon Oct 31 09:57:07 2016 +0000
@@ -0,0 +1,102 @@
+#include "mbed.h"
+#include "hack_motor.h"
+#include "PwmOut.h"
+
+Wheel::Wheel(PinName M1A_pin, PinName M1B_pin, PinName M2A_pin, PinName M2B_pin)
+{
+    M1A = new PwmOut(M1A_pin);
+    M2A = new PwmOut(M2A_pin);
+    M1B = new DigitalOut(M1B_pin);
+    M2B = new DigitalOut(M2B_pin);
+    init();
+}
+
+Wheel::~Wheel() // Destructor, cleans up
+{
+    delete M1A;
+    delete M2A;
+    delete M1B;
+    delete M2B;
+}
+
+void Wheel::init() //Initialize the driver pwm to 50Hz
+{
+    M1A->period_ms(20);
+    M2A->period_ms(20);
+    speed = 0.0;
+}
+
+void Wheel::set_speed(float speed)
+{
+    this->speed = speed;
+}
+
+float Wheel::get_speed()
+{
+    return speed;
+}
+
+void Wheel::FW()
+{
+    fw = speed;
+    M1A->write(fw); //Set the duty cycle to the wanted percent, from speed variable
+    M2A->write(fw); // -//-
+    *M1B = 0;
+    *M2B = 0;
+    wait_ms(1);
+}
+
+void Wheel::FW(float right, float left) // set the actual speed for right, left motor
+{
+    
+    M1A->write(right); //Set the duty cycle to the wanted percent, from speed variable
+    M2A->write(left); // -//-
+    *M1B = 0;
+    *M2B = 0;
+    wait_ms(1); 
+}
+
+void Wheel::BW()
+{
+    bw = 1 - speed;
+    M1A->write(bw); //Set the duty cycle to the wanted percent, from speed variable
+    M2A->write(bw); // -//-
+    *M1B = 1;
+    *M2B = 1;
+}
+
+void Wheel::right()
+{
+    /*    M1A->write(0.75f * speed);
+        M2A->write(1 - 0.25f * speed);
+        *M1B = 0;
+        *M2B = 1;
+        */
+
+    M1A->write(speed);
+    M2A->write(0.0f);
+    *M1B = 0;
+    *M2B = 0;
+}
+
+void Wheel::left()
+{
+    /*
+     M1A->write(1 - 0.25f * speed);
+     M2A->write(0.75f * speed);
+     *M1B = 1;
+     *M2B = 0;
+     */
+    M1A->write(0.0f);
+    M2A->write(speed);
+    *M1B = 0;
+    *M2B = 0;
+}
+
+void Wheel::stop()
+{
+    M1A->write(0.0f);
+    M2A->write(0.0f);
+    *M1B = 0;
+    *M2B = 0;
+}
\ No newline at end of file