jetfishteam / Mbed 2 deprecated robotic_fish_ver_4_9_pixy

My modifications/additions to the code

Dependencies:   ADXL345 ADXL345_I2C IMUfilter ITG3200 Servo fishgait mbed-rtos mbed pixy_cam

Fork of robotic_fish_ver_4_8 by jetfishteam

motor_controller.cpp

Committer:
sandwich
Date:
2014-07-11
Revision:
25:4f2f441eceec
Parent:
12:7eeb29892625

File content as of revision 25:4f2f441eceec:

#include "motor_controller.h"

PololuMController::PololuMController(PinName pwmport, PinName A, PinName B)
    :pwm(pwmport),outA(A),outB(B)
{
    outA.write(0);
    outB.write(1);
}

void PololuMController::setpolarspeed(float speed)
{
    if (speed>=0) {
        outA.write(0);
        outB.write(1);
        pwm.write(abs(speed));
    } else {
        outA.write(1);
        outB.write(0);
        pwm.write(abs(speed));
    }
    return;
}