File content as of revision 14:e8cd237c8639:

#include "mbed.h"
#include "CarPWM.h"
#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 MINIMUM_VELOCITY 15

void Motor(){
    PwmOut motor(PTD1);
    }
    
void Motor::startJogging(float jog_dc, float jog_p){
    jog_duty_cycle = jog_dc;
    jog_period = jog_p;
    interruption.attach(this,&Motor::motorJogging, jog_duty_cycle*jog_period);
    }
    
void Motor::stopJogging(void){
    interruption.detach();
    setMotorPWM(velocity,motor);
    }
    
void Motor::motorJogging(void) {
    interruption.detach();
    if(!alternate_motor){
        setMotorPWM(velocity, motor);
        interruption.attach(this,&Motor::motorJogging, jog_duty_cycle*jog_period);
    }
    else{
         setMotorPWM(10, motor);
         interruption.attach(this,&Motor::motorJogging, (1-jog_duty_cycle)*jog_period);
    }
    alternate_motor = !alternate_motor;
}

void Motor::brakeMotor(void){
    stopJogging();
    if(velocity >= 0){
        setMotorPWM(-BRAKE_CONSTANT, motor);
        wait(BRAKE_WAIT);
        velocity = 0;
        setMotorPWM(velocity,motor);
    }
    else {
        setVelocity(0);
    }
}

void Motor::reverseMotor(int speed){
    for(int i=0 ; i >= -speed; i--){
        setMotorPWM((float)i,motor);
        wait_ms(13.5);    
    }
    for(int i=-speed ; i <= 0; i++){
        setMotorPWM((float)i,motor);
        wait_ms(13.5);    
    }
    for(int i=0 ; i >= -speed; i--){
        setMotorPWM((float)i,motor);
        wait_ms(13.5);    
    }
}

void Motor::setSmoothVelocity(int new_velocity){
    if( velocity > new_velocity){
        for(; velocity >= new_velocity; velocity--){
            setMotorPWM(velocity,motor);
            wait_ms(PWM_PERIOD);
            }
        velocity++;
    }
    else if(velocity < new_velocity){
        for(; velocity <= new_velocity; velocity++){
            setMotorPWM(velocity,motor);
            wait_ms(PWM_PERIOD);
            }
        velocity--;
    }
}

void Motor::setVelocity(int new_velocity){
 setMotorPWM(new_velocity,motor);
 velocity = new_velocity;
}