Revision 1:1c712818d82a, committed 2015-12-09

Comitter:

NorNick

Date:

Wed Dec 09 04:08:22 2015 +0000

Parent:

0:72e45c332025

Commit message:

For Finish

Changed in this revision

diff -r 72e45c332025 -r 1c712818d82a ArduMotoShield.cpp
--- a/ArduMotoShield.cpp	Sat Nov 08 15:44:22 2014 +0000
+++ b/ArduMotoShield.cpp	Wed Dec 09 04:08:22 2015 +0000
@@ -22,10 +22,12 @@
 #define LOW 0
 #define HIGH 1
 
-DigitalOut inApin(D12, LOW); //direction control for motor outputs 1 and 2 is on digital pin 12
-DigitalOut inBpin(D13, LOW); //direction control for motor outputs 3 and 4 is on digital pin 13
+//DigitalOut inApin(D12, LOW); //direction control for motor outputs 1 and 2 is on digital pin 12
+//DigitalOut inBpin(D13, LOW); //direction control for motor outputs 3 and 4 is on digital pin 13
+BusOut inApin(D11,D12);
+BusOut inBpin(D13,D14);
 PwmOut pwmApin(D3); //PWM control for motor outputs 1 and 2 is on digital pin 3
-PwmOut pwmBpin(D11); //PWM control for motor outputs 3 and 4 is on digital pin 11
+PwmOut pwmBpin(D5); //PWM control for motor outputs 3 and 4 is on digital pin 11
 
 bool isSetup=false;
 
@@ -54,57 +56,72 @@
 
 // Basic ArduMotoShield operations
 
-void ArduMotoShield::forward() //full speed forward
+void ArduMotoShield::forward(float A_PWM,float B_PWM) //full speed forward
 { 
         if(!isSetup) setup();
 
-        inApin.write(LOW);
-        inBpin.write(LOW);
-        pwmApin.write(MAXPWM);
-        pwmBpin.write(MAXPWM);
-        printf("Forward\n");
+        //inApin.write(LOW);
+        //inBpin.write(LOW);
+  
+        inApin=1;
+        inBpin=1;
+        pwmApin.write(A_PWM);//(MAXPWM);
+        pwmBpin.write(B_PWM);//(MAXPWM);
+        //printf("Forward : %.2f\n",AnaPWM);
 }
 
-void ArduMotoShield::backward() //full speed backward
+void ArduMotoShield::backward(float A_PWM,float B_PWM) //full speed backward
 {
         if(!isSetup) setup();
 
-        inApin.write(HIGH);
-        inBpin.write(HIGH);
-        pwmApin.write(MAXPWM);
-        pwmBpin.write(MAXPWM);
-        printf("Backward\n");
+        //inApin.write(HIGH);
+        //inBpin.write(HIGH);
+
+        inApin=2;
+        inBpin=2;
+        pwmApin.write(A_PWM);//(MAXPWM);
+        pwmBpin.write(B_PWM);//(MAXPWM);
+        //printf("Backward\n");
+}
+
+void ArduMotoShield::right(float A_PWM,float B_PWM)
+{
+        if(!isSetup) setup();
+
+        //inApin.write(HIGH);
+        //inBpin.write(LOW);
+  
+        inApin=1;
+        inBpin=2;
+        pwmApin.write(A_PWM);//(MAXPWM);
+        pwmBpin.write(B_PWM);//(MAXPWM);
+        //printf("Right\n");
+}
+
+void ArduMotoShield::left(float A_PWM,float B_PWM)
+{
+        if(!isSetup) setup();
+
+        //inApin.write(LOW);
+        //inBpin.write(HIGH);
+   
+        inApin=2;
+        inBpin=1;
+        pwmApin.write(A_PWM);//(MAXPWM);
+        pwmBpin.write(B_PWM);//(MAXPWM);
+        //printf("Left\n");
 }
 
 void ArduMotoShield::stop()
 {
         if(!isSetup) setup();
 
-        inApin.write(LOW);
-        inBpin.write(LOW);
+        //inApin.write(LOW);
+        //inBpin.write(LOW);
+  
+        inApin=0;
+        inBpin=0;
         pwmApin.write(0.0f);
         pwmBpin.write(0.0f);
-        printf("Stop\n");
-}
-
-void ArduMotoShield::right()
-{
-        if(!isSetup) setup();
-
-        inApin.write(HIGH);
-        inBpin.write(LOW);
-        pwmApin.write(MAXPWM);
-        pwmBpin.write(MAXPWM);
-        printf("Right\n");
-}
-
-void ArduMotoShield::left()
-{
-        if(!isSetup) setup();
-
-        inApin.write(LOW);
-        inBpin.write(HIGH);
-        pwmApin.write(MAXPWM);
-        pwmBpin.write(MAXPWM);
-        printf("Left\n");
-}
+        //printf("Stop\n");
+}
\ No newline at end of file

diff -r 72e45c332025 -r 1c712818d82a ArduMotoShield.h
--- a/ArduMotoShield.h	Sat Nov 08 15:44:22 2014 +0000
+++ b/ArduMotoShield.h	Wed Dec 09 04:08:22 2015 +0000
@@ -24,10 +24,10 @@
     static void setVoltages(float vin, float vmaxmotor);
 
     static void stop();
-    static void forward();
-    static void backward();
-    static void left();
-    static void right();
+    static void forward(float A_PWM,float B_PWM);
+    static void backward(float A_PWM,float B_PWM);
+    static void left(float A_PWM,float B_PWM);
+    static void right(float A_PWM,float B_PWM);
 private:
     static void setup();
 };