Diff: Drive.cpp

Revision:

95:250afd53b710

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Drive.cpp	Sat Jun 08 12:00:38 2019 +0000
@@ -0,0 +1,61 @@
+#include "Drive.h"
+
+Drive::Drive(PinName pwmA, PinName pwmB, PinName Ain1, PinName Ain2, PinName Bin1, PinName Bin2):
+    _pwmA(pwmA), _pwmB(pwmB), _AIN1(Ain1), _AIN2(Ain2), _BIN1(Bin1), _BIN2(Bin2){
+}
+        
+Drive::~Drive(){
+}
+        
+void Drive::Forward(){
+    _pwmA.pulsewidth_us(left_Speed);
+    _pwmB.pulsewidth_us(right_Speed);
+    _AIN1 = LOW;
+    _AIN2 = HIGH;
+    _BIN1 = LOW;
+    _BIN2 = HIGH;
+}
+        
+void Drive::Backward(){
+    _pwmA.pulsewidth_us(left_Speed);
+    _pwmB.pulsewidth_us(right_Speed);
+    _AIN1 = HIGH;
+    _AIN2 = LOW;
+    _BIN1 = HIGH;
+    _BIN2 = LOW;
+}
+        
+void Drive::Turn_left(){
+    _pwmA.pulsewidth_us(left_Speed);
+    _pwmB.pulsewidth_us(right_Speed);
+    _AIN1 = HIGH;
+    _AIN2 = LOW;
+    _BIN1 = LOW;
+    _BIN2 = HIGH;
+}
+        
+void Drive::Turn_right(){
+    _pwmA.pulsewidth_us(left_Speed);
+    _pwmB.pulsewidth_us(right_Speed);
+    _AIN1 = LOW;
+    _AIN2 = HIGH;
+    _BIN1 = HIGH;
+    _BIN2 = LOW;
+}
+
+void Drive::Break(){
+    _AIN1 = LOW;
+    _AIN2 = LOW;
+    _BIN1 = LOW;
+    _BIN2 = LOW;
+}
+
+void Drive::setSpeed(int speed){
+    left_Speed = speed;
+    right_Speed = speed;
+}
+
+void Drive::setSpeed(int speed1, int speed2){
+    left_Speed = speed1;
+    right_Speed = speed2;
+}