Diff: Hardwares/Motor.cpp

Revision:

9:b72e18f80f49

Parent:

8:92f6baeea027

Child:

11:676ea42afd56

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Hardwares/Motor.cpp	Mon Feb 06 21:07:52 2017 +0000
@@ -0,0 +1,69 @@
+#include "Motor.h"
+#include "mbed.h"
+
+#include "PinAssignment.h"
+
+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))
+    
+{
+    
+}
+
+
+void Motor::Update(float deltaTime)
+{
+    
+}
+
+void Motor::setLeftSpeed(float speed)
+{
+    if(speed < -1.0f || speed > 1.0f)
+        return;
+    
+    m_pwmL.period_us(60);
+    
+    setLeftDirection(speed < 0 ? MDIR_Backward : MDIR_Forward);
+    speed = speed < 0 ? -speed : speed;
+
+    m_pwmL = speed;
+}
+
+void Motor::setRightSpeed(float speed)
+{
+    if(speed < -1.0f || speed > 1.0f)
+        return;
+    
+    m_pwmR.period_us(60);
+    
+    setRightDirection(speed < 0 ? MDIR_Backward : MDIR_Forward);
+    speed = speed < 0 ? -speed : speed;
+
+    m_pwmR = speed;
+}    
+
+void Motor::setSpeeds(float leftSpeed, float rightSpeed)
+{
+    setLeftSpeed(leftSpeed);
+    setRightSpeed(rightSpeed);    
+}
+
+    
+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);
+}