Diff: motor.cpp

Revision:

0:72fcb2468532

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/motor.cpp	Wed Jun 05 04:49:24 2019 +0000
@@ -0,0 +1,120 @@
+#include "motor.h"
+
+/**
+ * Constructor.
+ */
+Motor::Motor(PinName _pwma,PinName _pwmb, PinName _ain0, PinName _ain1, PinName _bin0, PinName _bin1, float _speed)
+: pwma(_pwma), pwmb(_pwmb), ain1(_ain1), ain0(_ain0), bin0(_bin0), bin1(_bin1) {
+    Speed_L = _speed;
+    Speed_R = _speed;
+    init_speed = _speed;
+}
+ 
+/**
+ * Destructor.
+ */
+Motor::~Motor() {
+}
+
+void Motor::speed_l(float sp_l){
+    Speed_L = sp_l;
+    
+    if(Speed_L > 1){
+        Speed_L = 1;
+    }
+    if(Speed_L < 0){
+        Speed_L = 0;
+    }    
+}
+
+void Motor::speed_r(float sp_r){
+    Speed_R = sp_r;
+    
+    if(Speed_R > 1){
+        Speed_R = 1;
+    }
+    if(Speed_R < 0){
+        Speed_R = 0;
+    }    
+}
+
+void Motor::speedup_l(void){
+    Speed_L += 0.005; 
+    if(Speed_L > 1){
+        Speed_L = 1;
+    }
+}
+
+void Motor::speeddown_l(void){
+    Speed_L -= 0.005;
+    if(Speed_L < 0){
+        Speed_L = 0;
+    }
+}
+
+void Motor::speedup_r(void){
+    Speed_R += 0.005; 
+    if(Speed_R > 1){
+        Speed_R = 1;
+    }
+}
+void Motor::speeddown_r(void){
+    Speed_R -= 0.005;
+    if(Speed_R < 0){
+        Speed_R = 0;
+    }
+}
+
+void Motor::forward(void){
+    pwma = Speed_L * 0.7;
+    pwmb = Speed_R;
+
+    ain0 = 1;
+    ain1 = 0;
+
+    bin0 = 1;
+    bin1 = 0;
+}
+
+void Motor::backward(void){
+    
+    pwma = Speed_L;
+    pwmb = Speed_R;
+
+    ain0 = 0;
+    ain1 = 1;
+
+    bin0 = 0;
+    bin1 = 1;    
+}
+
+void  Motor::left(void){
+    pwma = Speed_L*0.8;
+    pwmb = Speed_R;
+
+    ain0 = 1;
+    ain1 = 0;
+
+    bin0 = 1;
+    bin1 = 0;
+}
+void Motor::right(void){
+    pwma = Speed_L;
+    pwmb = Speed_R*0.85;
+
+    ain0 = 1;
+    ain1 = 0;
+
+    bin0 = 1;
+    bin1 = 0;
+}
+void Motor::stop(void){
+    pwma = init_speed;
+    pwmb = init_speed;
+
+    ain0 = 0;
+    ain1 = 0;
+
+    bin0 = 0;
+    bin1 = 0;
+}
\ No newline at end of file