File content as of revision 3:df6160e2f6d9:

/*--------------------------------------------------------------------------------
Filename: main.cpp
Description: Main program loop
--------------------------------------------------------------------------------*/

#include "Motor.h"

/*--------------------------------------------------------------------------------
Function name: cMotor
Input Parameters: PwmOut pwm - Motor PWM, DigitalOut fwd - Motor input1, DigitalOut rev - Motor Input2
Output Parameters: N/A
Description: Class constructor (Initialisation upon creating class)
----------------------------------------------------------------------------------*/
cMotor::cMotor(PwmOut pwm, DigitalOut fwd, DigitalOut rev):_pwm(pwm), _fwd(fwd), _rev(rev){
    
    // Set initial condition of PWM
    _pwm.period(0.001); //1KHz
    _pwm = 0;

    // Initial condition of output enables
    _fwd = 0;
    _rev = 0;
}

/*--------------------------------------------------------------------------------
Function name: Forwards
Input Parameters: float speed - PWM duty between 0-1
Output Parameters: N/A
Description: Drives the motor forwards at a designated speed
----------------------------------------------------------------------------------*/
void cMotor::Forwards(float speed){
    _fwd = 1;
    _rev = 0;
    _pwm = speed;
}

/*--------------------------------------------------------------------------------
Function name: Backwards
Input Parameters: float speed - PWM duty between 0-1
Output Parameters: N/A
Description: Drives the motor backwards at a designated speed
----------------------------------------------------------------------------------*/
void cMotor::Backwards(float speed){
    _fwd = 0;
    _rev = 1;
    _pwm = speed;
}

/*--------------------------------------------------------------------------------
Function name: Stop
Input Parameters: N/A
Output Parameters: N/A
Description: Drives the motor backwards at a designated speed
----------------------------------------------------------------------------------*/
void cMotor::Stop(){
    _fwd = 0;
    _rev = 0;
    _pwm = 0;
}