Diff: class_hardware.cpp

Revision:

2:4a9ed5ca8a9a

Parent:

0:46115ad78747

--- a/class_hardware.cpp	Mon Apr 18 10:07:53 2016 +0000
+++ b/class_hardware.cpp	Mon Apr 18 12:30:42 2016 +0000
@@ -2,98 +2,99 @@
 #include "class_hardware.h"
 
 Motor::Motor(PinName pin_pwm, PinName pin_fwd, PinName pin_rev) :
-    pwm(pin_pwm), fwd(pin_fwd), rev(pin_rev) {
-        pwm=0;
-        pwm.period(0.001);
-        fwd=0; rev=0;
-    }
+	pwm(pin_pwm), fwd(pin_fwd), rev(pin_rev) {
+		pwm=0;
+		pwm.period(0.001);
+		fwd=0; rev=0;
+	}
 
 void Motor::stop() {
-    pwm=0;
-    fwd=0; rev=0;
+	pwm=0;
+	fwd=0; rev=0;
 }
 
 void Motor::stop(bool powered) {
-    pwm=0;
-    if ( powered )
-        { fwd=1; rev=1; }
-    else
-        { fwd=0; rev=0; }
+	pwm=0;
+	if ( powered )
+		{ fwd=1; rev=1; }
+	else
+		{ fwd=0; rev=0; }
 }
 
 void Motor::set(int speed) {
-    if ( speed > 0 ) {
-        pwm=( (float)(speed) / 100 );
-        fwd=1; rev=0;
-    }
-    else if ( speed < 0 ) {
-        pwm=( (float)(speed) / -100 );
-        fwd=0; rev=1;
-    }
-    else
-        { pwm=0; fwd=0; rev=0; }
+	if ( speed > 0 ) {
+		pwm=( (float)(speed) / 100 );
+		fwd=1; rev=0;
+	}
+	else if ( speed < 0 ) {
+		pwm=( (float)(speed) / -100 );
+		fwd=0; rev=1;
+	}
+	else
+		{ pwm=0; fwd=0; rev=0; }
 }
 
 IRSensor::IRSensor(PinName pin_ir) :
-    ir(pin_ir) {
-        threshold = 500;
-    }
+	ir(pin_ir) {
+		threshold = 500;
+	}
 
 IRSensor::IRSensor(PinName pin_ir, int threshold_black) :
-    ir(pin_ir) {
-        threshold = threshold_black;
-    }
+	ir(pin_ir) {
+		threshold = threshold_black;
+	}
 
 bool IRSensor::is_black() {
-    if ( ir.read_u16()>>6 > threshold )
-        return true;
-    
-    return false;
+	if ( ir.read_u16()>>6 > threshold )
+		return true;
+	
+	return false;
 }
 
 int IRSensor::get_data() {
-    return ( ir.read_u16()>>6 );
+	return ( ir.read_u16()>>6 );
 }
 
 USSensor::USSensor(PinName pin_trigger, PinName pin_echo) :
-    trigger(pin_trigger),echo(pin_echo) {
-        echo.rise(this, &USSensor::on_rise);
-        echo.fall(this, &USSensor::on_fall);
-        
-        distance = 50;
-    }
+	trigger(pin_trigger),echo(pin_echo) {
+		echo.rise(this, &USSensor::on_rise);
+		echo.fall(this, &USSensor::on_fall);
+		
+		distance = 50;
+	}
 
 USSensor::USSensor(PinName pin_trigger, PinName pin_echo, int distance_set_bool) :
-    trigger(pin_trigger),echo(pin_echo) {
-        echo.rise(this, &USSensor::on_rise);
-        echo.fall(this, &USSensor::on_fall);
-        
-        if (distance_set_bool < 4000 && distance_set_bool > 20)
-            distance = distance_set_bool;
-        else
-            distance = 50;
-    }
+	trigger(pin_trigger),echo(pin_echo) {
+		echo.rise(this, &USSensor::on_rise);
+		echo.fall(this, &USSensor::on_fall);
+		
+		if (distance_set_bool < 4000 && distance_set_bool > 20)
+			distance = distance_set_bool;
+		else
+			distance = 50;
+	}
 
 void USSensor::initialize() {
-    ticker.attach(this, &USSensor::measure, 0.06);
-    timer.start();
+	ticker.attach(this, &USSensor::measure, 0.06);
+	timer.start();
 }
 
 void USSensor::measure() {
-    trigger=1;
-    wait_us(10);
-    trigger=0;
+	trigger=1;
+	wait_us(10);
+	trigger=0;
 }
 
 void USSensor::on_rise() {
-    timer.reset();
+	timer.reset();
 }
 
 void USSensor::on_fall() {
-    distance_mm = ( (float)(timer.read_us()) * 1716E-4 );
-    
-    if ( distance_mm < distance )
-        in_distance = true;
-    else
-        in_distance = false;
+	distance_mm = ( (float)(timer.read_us()) * 1716E-4 );
+	
+	if ( distance_mm < distance )
+		in_distance = true;
+	else
+		in_distance = false;
 }
+