Diff: motors.cpp

Revision:

5:6da8daaeb9f7

Parent:

3:8762f6b2ea8d

Child:

6:732aa91eb555

diff -r c2e933d53bea -r 6da8daaeb9f7 motors.cpp
--- a/motors.cpp	Mon Jan 02 15:17:22 2017 +0000
+++ b/motors.cpp	Mon Jan 02 22:56:34 2017 +0000
@@ -13,6 +13,7 @@
 DigitalOut hb2_r(p30);
 float left_motor_speed = 0;
 float right_motor_speed = 0;
+int motor_pwm_period = 0;
 
 float Motors::get_left_motor_speed()
 {
@@ -131,10 +132,16 @@
     }   
 }
 
+void Motors::set_pwm_period(int period_in){
+    motor_pwm_period = period_in;
+    enable_l.period_us(motor_pwm_period);
+    enable_r.period_us(motor_pwm_period);   
+}
 
 void Motors::init(){
-    enable_l.period_us(MOTOR_PWM_PERIOD_US);
-    enable_r.period_us(MOTOR_PWM_PERIOD_US);
+    if(motor_pwm_period == 0) motor_pwm_period = MOTOR_PWM_PERIOD_US;
+    enable_l.period_us(motor_pwm_period);
+    enable_r.period_us(motor_pwm_period);
     enable_l = 0;
     enable_r = 0;
     wake_up();