Diff: Brobot.cpp

Revision:

0:01c109e18d49

diff -r 000000000000 -r 01c109e18d49 Brobot.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Brobot.cpp	Fri May 26 12:33:39 2017 +0000
@@ -0,0 +1,73 @@
+/*
+ * BROBOT.cpp
+ *
+ */
+
+#include <cmath>
+#include "Brobot.h"
+
+
+Brobot::Brobot(PwmOut* left, PwmOut* right, int number)
+{
+    pwmL = left;  // set local references to objects
+    pwmR = right;
+
+    this->number = number;
+}
+
+// empty constructor
+Brobot::Brobot()
+{}
+
+void Brobot::rotate( float phi)
+{
+    if(phi>0.5f || phi<-0.5f) {
+        phi=0;
+    }
+
+    *pwmL = 0.5f + phi;
+    *pwmR = 0.5f + phi;
+}
+
+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)
+}
+
+void Brobot::slow(float scale)
+{
+    if(scale>0.5f || scale<-0.5f) {
+        scale=0;
+    }
+
+    *pwmL = *pwmL - scale;
+    *pwmR = *pwmR + scale;
+}
+
+void Brobot::turnleft()
+{
+    *pwmL=0.48f;
+    *pwmR=0.31f;
+    wait(0.1);
+}
+
+void Brobot::turnright()
+{
+    *pwmL=0.69f;
+    *pwmR=0.52f;
+    wait(0.1);
+}
+
+void Brobot::back()
+{
+    *pwmR=0.65f;
+    *pwmL=0.35f;
+}
+
+void Brobot::stop()
+{
+    *pwmR=0.5f;
+    *pwmL=0.5f;
+}
\ No newline at end of file