Brobot.cpp

00001 /*
00002  * BROBOT.cpp
00003  *
00004  */
00005 
00006 #include <cmath>
00007 #include "Brobot.h"
00008 
00009 
00010 Brobot::Brobot(PwmOut* left, PwmOut* right, int number)
00011 {
00012     pwmL = left;  // set local references to objects
00013     pwmR = right;
00014 
00015     this->number = number;
00016 }
00017 
00018 // empty constructor
00019 Brobot::Brobot()
00020 {}
00021 
00022 void Brobot::rotate( float phi)
00023 {
00024     if(phi>0.5f || phi<-0.5f) {
00025         phi=0;
00026     }
00027 
00028     *pwmL = 0.5f + phi;
00029     *pwmR = 0.5f + phi;
00030 }
00031 
00032 void Brobot::forward()
00033 {
00034     *pwmL=0.65f;  // asterisk is dereferencing the pointer so
00035     *pwmR=0.36f;  // you can access the variable at the pointers address
00036     // also another way to dereference the pointer is: pwmR->write(0.xx)
00037 }
00038 
00039 void Brobot::slow(float scale)
00040 {
00041     if(scale>0.5f || scale<-0.5f) {
00042         scale=0;
00043     }
00044 
00045     *pwmL = *pwmL - scale;
00046     *pwmR = *pwmR + scale;
00047 }
00048 
00049 void Brobot::turnleft()
00050 {
00051     *pwmL=0.48f;
00052     *pwmR=0.31f;
00053     wait(0.1);
00054 }
00055 
00056 void Brobot::turnright()
00057 {
00058     *pwmL=0.69f;
00059     *pwmR=0.52f;
00060     wait(0.1);
00061 }
00062 
00063 void Brobot::back()
00064 {
00065     *pwmR=0.65f;
00066     *pwmL=0.35f;
00067 }
00068 
00069 void Brobot::stop()
00070 {
00071     *pwmR=0.5f;
00072     *pwmL=0.5f;
00073 }