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