zhaw_st16b_pes2_10
/
PES-Yanick2
ahah
Fork of PES_Official by
Sources/Robot.cpp
- Committer:
- beacon
- Date:
- 2017-03-11
- Revision:
- 0:d267b248eff4
- Child:
- 1:388c915756f5
File content as of revision 0:d267b248eff4:
#include "Robot.h" /* Work in progress -------------------------------------------- */ Robot::Robot(PwmOut* left, PwmOut* right, DigitalOut* enableSignal) { this->powerSignal = enableSignal; this->left = left; this->right = right; this->left->period(0.00005f); this->right->period(0.00005f); } /* work in progress ------------------------------------------- */ void Robot::drive() { //pwm determine what direction it goes. *powerSignal = 1; *left= 0.8f; *right= 0.7f; *left= 0.7f; *right= 0.8f; } void Robot::turnLeft(){ *powerSignal = 1; *left= 0.35f; *right= 0.65f; } void Robot::turnRight(){ *powerSignal = 1; *left= 0.65f; *right= 0.35f; } void Robot::turnAround(int left){ *powerSignal = 1; if (left){ turnLeft(); } else{ turnRight(); } } //void Robot::init(){ // Robot.DistanceSensors.init(&sensorVoltage, &bit0, &bit1, &bit2, ii); //} //Remember to set //DigitalOut powerMotor(PB_2) = 1; //DigitalIn errorMotor(PB_14); //if (errorMotor){ //reset //} //Add management for Overpower!! Pin PB_15