Diff: motor_controller.cpp

Revision:

12:7eeb29892625

Parent:

11:8ec915eb70f6

--- a/motor_controller.cpp	Fri Jan 31 19:36:28 2014 +0000
+++ b/motor_controller.cpp	Sat Feb 01 00:03:40 2014 +0000
@@ -1,101 +1,22 @@
 #include "motor_controller.h"
-//
-//float sigm(float input)
-//{
-//    if (input>0)
-//        return 1;
-//    else if (input<0)
-//        return -1;
-//    else
-//        return 0;
-//}
 
 PololuMController::PololuMController(PinName pwmport, PinName A, PinName B)
-:pwm(pwmport),outA(A),outB(B){
+    :pwm(pwmport),outA(A),outB(B)
+{
     outA.write(0);
     outB.write(1);
-//    timestamp=0;
-//    ome1 = 0.0;
-//    amp1 = 0.0;
-//    phi1 = 0.0;
-//    firstTime = true;
-
 }
 
-
-//void PololuMController::setspeed(float speed)
-//{
-//    pwm->write(speed);
-//    return;
-//}
-
 void PololuMController::setpolarspeed(float speed)
 {
-    if (speed>=0)
-    {
+    if (speed>=0) {
         outA.write(0);
         outB.write(1);
         pwm.write(abs(speed));
-    }
-    else
-    {
+    } else {
         outA.write(1);
         outB.write(0);
         pwm.write(abs(speed));
     }
     return;
 }
-
-//void PololuMController::reverse()
-//{
-//    outA->write(!(outA->read()));
-//    outB->write(!(outB->read()));
-//    return;
-//}
-
-//float PololuMController::drive_sinusoidal(float currentTime, float amplitude, float frequency)
-//{
-//   
-//    //convert inputs
-//    float amp2;
-//    if(amplitude > 1.0) {
-//        amp2 = 1.0;
-//    } else if(amplitude < 0.0) {
-//        amp2 = 0.0;
-//    } else {
-//        amp2 = amplitude;
-//    }
-//    float ome2 = 2.0* MATH_PI * frequency;
-//
-//    float dutycycle;
-//    float phi2;
-//    if (firstTime)
-//    {
-//        dutycycle = amp2*sin(ome2 * currentTime);
-//        firstTime = false;
-//    }
-//    else if(amp2 > 0.0) {
-//        phi2 = asin(amp1 * sin(ome1 * currentTime + phi1) / amp2 ) - (ome2*currentTime);
-//        dutycycle = amp2*sin(ome2 * currentTime + phi2);
-//        phi1 = phi2;
-//    } else {
-//        dutycycle = 0.0;
-//    }
-//    setpolarspeed(dutycycle);
-//
-//    //set previous values
-//    ome1 = ome2;
-//    amp1 = amp2;
-//
-//    return dutycycle;
-//}
-//
-//void PololuMController::drive_rectangular(float currentTime, float amplitude, float frequency)
-//{    
-//    //setpolarspeed(dutyCycle*sin( 2.0* MATH_PI* f * currentTime));
-//    float sinRes = sin( 2.0* MATH_PI* frequency * currentTime);
-//    
-//    float dutycycle = amplitude * sigm( sinRes);
-//    setpolarspeed(dutycycle);
-//    return;
-//}