ODE_FUCKFISH / ArduMotoShield

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Fork of ArduMotoShield by Didier Donsez

Files at this revision

API Documentation at this revision

Revision 1:b4604cdd9597, committed 2015-12-04

Comitter:
NorNick
Date:
Fri Dec 04 19:23:37 2015 +0000
Parent:
0:72e45c332025
Commit message:
Chang DigitalOut -> BusOut

Changed in this revision

ArduMotoShield.cpp Show annotated file Show diff for this revision Revisions of this file 
diff -r 72e45c332025 -r b4604cdd9597 ArduMotoShield.cpp
--- a/ArduMotoShield.cpp	Sat Nov 08 15:44:22 2014 +0000
+++ b/ArduMotoShield.cpp	Fri Dec 04 19:23:37 2015 +0000
@@ -19,11 +19,9 @@
 // depend of the Vin and the max voltage of the motors
 float MAXPWM = 0.5f;
                 
-#define LOW 0
-#define HIGH 1
 
-DigitalOut inApin(D12, LOW); //direction control for motor outputs 1 and 2 is on digital pin 12
-DigitalOut inBpin(D13, LOW); //direction control for motor outputs 3 and 4 is on digital pin 13
+BusOut inApin(D11,D12); //direction control for motor outputs 1 and 2 is on digital pin 12
+BusOut inBpin(D13,D14); //direction control for motor outputs 3 and 4 is on digital pin 13
 PwmOut pwmApin(D3); //PWM control for motor outputs 1 and 2 is on digital pin 3
 PwmOut pwmBpin(D11); //PWM control for motor outputs 3 and 4 is on digital pin 11
 
@@ -58,8 +56,8 @@
 { 
         if(!isSetup) setup();
 
-        inApin.write(LOW);
-        inBpin.write(LOW);
+        inApin=1;
+        inBpin=1;
         pwmApin.write(MAXPWM);
         pwmBpin.write(MAXPWM);
         printf("Forward\n");
@@ -69,8 +67,8 @@
 {
         if(!isSetup) setup();
 
-        inApin.write(HIGH);
-        inBpin.write(HIGH);
+        inApin=2;
+        inBpin=2;
         pwmApin.write(MAXPWM);
         pwmBpin.write(MAXPWM);
         printf("Backward\n");
@@ -80,8 +78,8 @@
 {
         if(!isSetup) setup();
 
-        inApin.write(LOW);
-        inBpin.write(LOW);
+        inApin=0;
+        inBpin=0;
         pwmApin.write(0.0f);
         pwmBpin.write(0.0f);
         printf("Stop\n");
@@ -91,8 +89,8 @@
 {
         if(!isSetup) setup();
 
-        inApin.write(HIGH);
-        inBpin.write(LOW);
+        inApin=2;
+        inBpin=1;
         pwmApin.write(MAXPWM);
         pwmBpin.write(MAXPWM);
         printf("Right\n");
@@ -102,8 +100,8 @@
 {
         if(!isSetup) setup();
 
-        inApin.write(LOW);
-        inBpin.write(HIGH);
+        inApin=1;
+        inBpin=2;
         pwmApin.write(MAXPWM);
         pwmBpin.write(MAXPWM);
         printf("Left\n");