Diff: Motor.cpp

Revision:

8:92f6baeea027

Parent:

4:25e028102625

--- a/Motor.cpp	Fri Feb 03 04:08:32 2017 +0000
+++ b/Motor.cpp	Fri Feb 03 19:40:27 2017 +0000
@@ -1,72 +1,69 @@
 #include "Motor.h"
 #include "mbed.h"
-/*
-DigitalOut DIR_L(PTA13);
-DigitalOut DIR_R(PTC9);
+
+#include "PinAssignment.h"
 
-PwmOut PWM_L(PTD0);
-PwmOut PWM_R(PTD5);
+Motor::Motor() :
+    m_dirL(DigitalOut(MC_DIR_L, 1)),
+    m_dirR(DigitalOut(MC_DIR_R, 1)),
+    m_pwmL(PwmOut(MC_SPEED_L)),
+    m_pwmR(PwmOut(MC_SPEED_R))
+    
+{
+    
+}
 
-Motor::Motor()
+
+void Motor::Update(float deltaTime)
 {
     
 }
+
+void Motor::setLeftSpeed(float speed)
+{
+    if(speed < -1.0f || speed > 1.0f)
+        return;
     
-void Motor::initializeMotor()
-{    
+    m_pwmL.period_us(60);
+    
+    setLeftDirection(speed < 0 ? MDIR_Backward : MDIR_Forward);
+    speed = speed < 0 ? -speed : speed;
+
+    m_pwmL = speed;
 }
 
-void Motor::setLeftSpeed(int speed)
+void Motor::setRightSpeed(float speed)
 {
-    init();
-    PWM_L.period_us(60);
-    
-    bool reverse = 0;
+    if(speed < -1.0f || speed > 1.0f)
+        return;
     
-    if(speed < 0)
-    {
-        speed = -speed;
-        reverse = 1;    
-    }
-    //Set Max Speed
-    if(speed > 60)
-        speed = 60;
-        
-    if(reverse)
-        DIR_L = 1;
-    else
-        DIR_L = 0;
+    m_pwmR.period_us(60);
+    
+    setRightDirection(speed < 0 ? MDIR_Backward : MDIR_Forward);
+    speed = speed < 0 ? -speed : speed;
 
-    PWM_L.pulsewidth_us(speed);
-}
-
-void Motor::setRightSpeed(int speed)
-{
-    init();
-    PWM_R.period_us(60);
-    
-    bool reverse = 0;
-    
-    if(speed < 0)
-    {
-        speed = -speed;
-        reverse = 1;    
-    }
-    //Set Max Speed
-    if(speed > 60)
-        speed = 60;
-        
-    if(reverse)
-        DIR_R = 1;
-    else
-        DIR_R = 0;
-    
-    PWM_R.pulsewidth_us(speed);
+    m_pwmR = speed;
 }    
 
-void Motor::setSpeeds(int leftSpeed, int rightSpeed)
+void Motor::setSpeeds(float leftSpeed, float rightSpeed)
 {
     setLeftSpeed(leftSpeed);
     setRightSpeed(rightSpeed);    
 }
-*/
\ No newline at end of file
+
+    
+void Motor::setLeftDirection(MotorDir dir)
+{
+    m_dirL = static_cast<int>(dir);
+}
+    
+void Motor::setRightDirection(MotorDir dir)
+{
+    m_dirR = static_cast<int>(dir);
+}
+    
+void Motor::setDirections(MotorDir dirL, MotorDir dirR)
+{
+    setLeftDirection(dirL);
+    setRightDirection(dirR);
+}