Diff: Motor/Motor.cpp

Revision:

20:7138ab2f93f7

Parent:

14:e8cd237c8639

Child:

22:b7cca3089dfe

--- a/Motor/Motor.cpp	Sun May 15 19:14:06 2016 +0000
+++ b/Motor/Motor.cpp	Sat Jul 16 19:17:08 2016 +0000
@@ -3,12 +3,9 @@
 #include "Motor.h"
 
 #define PI 3.141592653589793238462
-#define Ts 0.02                         // Seconds
-#define PWM_PERIOD 13.5 // ms
-#define BRAKE_CONSTANT 40
-#define BRAKE_WAIT 2
-#define END_THRESH 4
-#define START_THRESH 10
+#define PWM_PERIOD 13.5                 // ms
+#define BRAKE_CONSTANT 100              // Brake force(max = 100)
+#define BRAKE_WAIT 1.662                // seconds
 #define MINIMUM_VELOCITY 15
 
 void Motor(){
@@ -39,11 +36,11 @@
     alternate_motor = !alternate_motor;
 }
 
-void Motor::brakeMotor(void){
+void Motor::brakeMotor(float brake_intensity, float brake_wait){
     stopJogging();
     if(velocity >= 0){
-        setMotorPWM(-BRAKE_CONSTANT, motor);
-        wait(BRAKE_WAIT);
+        setMotorPWM(-brake_intensity, motor);
+        wait(brake_wait);
         velocity = 0;
         setMotorPWM(velocity,motor);
     }
@@ -87,4 +84,7 @@
 void Motor::setVelocity(int new_velocity){
  setMotorPWM(new_velocity,motor);
  velocity = new_velocity;
-}
\ No newline at end of file
+}
+float Motor::getVelocity(){
+    return velocity;
+    }
\ No newline at end of file