File content as of revision 8:351b0b7b05b2:

/*
 * BROBOT.cpp
 *
 */

#include <cmath>
#include "Brobot.h"
#include "SpeedControl.h"

SpeedControl speedctrl(PwmOut* pwmLeft, PwmOut* pwmRight, EncoderCounter* counterLeft, EncoderCounter* counterRight);

Brobot::Brobot(SpeedControl* speedctrl, int number) 
{
    this->number = number;
    //this->speedctrl = speedctrl;
}

void Brobot::rotate( float phi)
{
    if(phi>0.5f || phi<-0.5f) {
        phi=0;
    }

    *pwmL = 0.5f + phi;
    *pwmR = 0.5f + phi;
}

/*
void Brobot::setWheelSpeeds( float wheelL, float wheelR)
{
    SpeedCtrl.setDesiredSpeed( wheelL, wheelR);
}
*/

void Brobot::forward()
{
    //*pwmL=0.65f;  // asterisk is dereferencing the pointer so
    //*pwmR=0.36f;  // you can access the variable at the pointers address
    // also another way to dereference the pointer is: pwmR->write(0.xx)
    speedctrl->setDesiredSpeed(0.65f, 0.35f);
}

void Brobot::slow(float scale)
{
    if(scale>0.5f || scale<-0.5f) {
        scale=0;
    }

    *pwmL = *pwmL - scale;
    *pwmR = *pwmR + scale;
}

void Brobot::turnleft()
{
    speedctrl->setDesiredSpeed(0.48f, 0.31f);
    wait(0.1);
}

void Brobot::turnright()
{
    speedctrl->setDesiredSpeed(0.69f, 0.52f);
    wait(0.1);
}

void Brobot::back()
{
    speedctrl->setDesiredSpeed(0.65f, 0.35f);
}

void Brobot::stop()
{
    speedctrl->setDesiredSpeed(0.5f, 0.5f);
}