Diff: Sources/Robot.cpp

Revision:

0:d267b248eff4

Child:

1:388c915756f5

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Sources/Robot.cpp	Sat Mar 11 10:14:00 2017 +0000
@@ -0,0 +1,62 @@
+#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
\ No newline at end of file