Terrabots
cleaned up motor class with separate header and .cpp files
Dependencies: mbed
Dependents: TerraBot_Drive_2D TerraBot_Drive_2D TerraBot_Drive_2D_FINAL DUMP_TRUCK_Test ... more
Diff: Motor.cpp
- Revision:
- 0:0a5af2965205
- Child:
- 1:92be353590b4
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Motor.cpp Fri Oct 07 01:21:10 2016 +0000
@@ -0,0 +1,22 @@
+#include "Motor.h"
+
+Motor::Motor(PinName pwm, PinName dir) : pwmPin(pwm), dirPin(dir)
+ {
+ }
+
+void Motor::write(float Val)
+ {
+ if (Val >= 0) {
+ dirPin = 1;
+ pwmPin = Val;
+ }else {
+ dirPin = 0;
+ pwmPin = -1 * Val;
+ }
+ lastVal = Val;
+ }
+
+float Motor::read()
+ {
+ return lastVal;
+ }
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