Soft robot team
/
Robot_team1
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Dependencies: QEI Motordriver ros_lib_melodic
motor/Motor.cpp@5:8ef79eebbc97, 2019-10-22 (annotated)
- Committer:
- florine_van
- Date:
- Tue Oct 22 15:06:44 2019 +0000
- Revision:
- 5:8ef79eebbc97
- Parent:
- 0:57855aafa907
- Child:
- 6:858a5116688e
Implementation of motor class; Link to sensors in main method
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| florine_van | 5:8ef79eebbc97 | 1 | #include "Motor.h" |
| florine_van | 5:8ef79eebbc97 | 2 | |
| florine_van | 5:8ef79eebbc97 | 3 | /////////////////////////////////////////////////////////////////// |
| florine_van | 5:8ef79eebbc97 | 4 | // Constructor |
| florine_van | 5:8ef79eebbc97 | 5 | /////////////////////////////////////////////////////////////////// |
| florine_van | 5:8ef79eebbc97 | 6 | Motor::Motor(PinName in1, PinName in2, PinName pwm) |
| florine_van | 5:8ef79eebbc97 | 7 | : in1(in1), in2(in2), pwm(pwm) {} |
| florine_van | 5:8ef79eebbc97 | 8 | |
| florine_van | 5:8ef79eebbc97 | 9 | /////////////////////////////////////////////////////////////////// |
| florine_van | 5:8ef79eebbc97 | 10 | // Public methods |
| florine_van | 5:8ef79eebbc97 | 11 | /////////////////////////////////////////////////////////////////// |
| florine_van | 5:8ef79eebbc97 | 12 | |
| florine_van | 5:8ef79eebbc97 | 13 | //TODO |
| florine_van | 5:8ef79eebbc97 | 14 | void Motor::moveForward() |
| florine_van | 5:8ef79eebbc97 | 15 | { |
| florine_van | 5:8ef79eebbc97 | 16 | in1 = 1; |
| florine_van | 5:8ef79eebbc97 | 17 | in2 = 0; |
| florine_van | 5:8ef79eebbc97 | 18 | |
| florine_van | 5:8ef79eebbc97 | 19 | pwm.period_ms(10); |
| florine_van | 5:8ef79eebbc97 | 20 | pwm.write(0.5f); |
| florine_van | 5:8ef79eebbc97 | 21 | } |
| florine_van | 5:8ef79eebbc97 | 22 | |
| florine_van | 5:8ef79eebbc97 | 23 | //TODO |
| florine_van | 5:8ef79eebbc97 | 24 | void Motor::moveBack() |
| florine_van | 5:8ef79eebbc97 | 25 | { |
| florine_van | 5:8ef79eebbc97 | 26 | pwm.period_ms(10); |
| florine_van | 5:8ef79eebbc97 | 27 | pwm.write(0.5f); |
| florine_van | 5:8ef79eebbc97 | 28 | } |
| florine_van | 5:8ef79eebbc97 | 29 | |
| florine_van | 5:8ef79eebbc97 | 30 | //TODO |
| florine_van | 5:8ef79eebbc97 | 31 | void Motor::turnLeft() |
| florine_van | 5:8ef79eebbc97 | 32 | { |
| florine_van | 5:8ef79eebbc97 | 33 | in1 = 0; |
| florine_van | 5:8ef79eebbc97 | 34 | in2 = 1; |
| florine_van | 5:8ef79eebbc97 | 35 | |
| florine_van | 5:8ef79eebbc97 | 36 | pwm.period_ms(10); |
| florine_van | 5:8ef79eebbc97 | 37 | pwm.write(0.5f); |
| florine_van | 5:8ef79eebbc97 | 38 | } |
| florine_van | 5:8ef79eebbc97 | 39 | |
| florine_van | 5:8ef79eebbc97 | 40 | //TODO |
| florine_van | 5:8ef79eebbc97 | 41 | void Motor::turnRight() |
| florine_van | 5:8ef79eebbc97 | 42 | { |
| florine_van | 5:8ef79eebbc97 | 43 | |
| florine_van | 5:8ef79eebbc97 | 44 | pwm.period_ms(10); |
| florine_van | 5:8ef79eebbc97 | 45 | pwm.write(0.5f); |
| florine_van | 5:8ef79eebbc97 | 46 | } |
| florine_van | 5:8ef79eebbc97 | 47 |