File content as of revision 11:35809512ec11:

#include "mbed.h"

#include "Motor.h"
#include "QEI.h"

///////////////////////////////////////////////////////////////////
// Constructor
///////////////////////////////////////////////////////////////////
Motor::Motor(PinName in1, PinName in2, PinName pwm, QEI wheel)
: in1(in1), in2(in2), pwm(pwm), wheel(wheel)
{
    this->pwm.period_ms(10);
}

///////////////////////////////////////////////////////////////////
// Public methods
///////////////////////////////////////////////////////////////////

void Motor::moveForward(int pulse)
{
    moveDistance(-0.5, pulse, 1); 
}

void Motor::moveBackward(int pulse)
{  
    moveDistance(0.5, pulse, -1);
}

void Motor::moveLeft(float speed)
{  
    moveDistance(speed, 3000, -1);
}

void Motor::moveRight(float speed)
{  
    moveDistance(speed, 3000, 1);
}

void Motor::setSpeed(float speed)
{
    pwm.write(speed);
}

void Motor::moveDistance(float speed, int pulse, int pulse_direction)
{
    // Variables to allow for any pulse reading   
    float initial_pulse_reading = wheel.getPulses();
    float current_pulse_reading = wheel.getPulses();
    
    // - is forward on our robot
    setSpeed(speed);
    
    // loop for moving forward
    if (pulse_direction > 0)
    {
        while(current_pulse_reading <= (initial_pulse_reading + pulse * pulse_direction))
        {
            current_pulse_reading = wheel.getPulses();
        }
    }
    else
    {
        while(current_pulse_reading >= (initial_pulse_reading + pulse * pulse_direction))
        {
            current_pulse_reading = wheel.getPulses();
        }
    }        

    setSpeed(0);
}


void Motor::move(float speed)
{
    // - is forward on our robot
    setSpeed(speed);    
}