Diff: motors.cpp

Revision:

9:9734347b5756

Parent:

8:78b1ff957cba

Child:

32:83a13b06093c

--- a/motors.cpp	Sat Feb 22 02:23:21 2014 +0000
+++ b/motors.cpp	Sat Feb 22 03:03:37 2014 +0000
@@ -2,20 +2,20 @@
 #include "motors.h"
 
 // Application     mbed pin    LPC1768
-// Motor 1 PWM     p26         P2[0]/PWM1[1]
-// Motor 1 dir     p25
-// Motor 2 PWM     p24         P2[2]/PWM1[3]
-// Motor 2 dir     p23
+// Motor L PWM     p26         P2[0]/PWM1[1]
+// Motor L dir     p25
+// Motor R PWM     p24         P2[2]/PWM1[3]
+// Motor R dir     p23
 
 // Clock structure:
 // System clock: 96 MHz
 // In LPC_SC->PCLKSEL0, PWM is assigned to system clock / 4 by default, so it ticks at 24 MHz.
 // This allows us to have 1200 possible speeds at 20 kHz.
 
-DigitalOut motor1Dir(p25);
-DigitalOut motor2Dir(p23);
+DigitalOut motorLeftDir(p25);
+DigitalOut motorRightDir(p23);
 
-void motors_init()
+void motorsInit()
 {
     //PwmOut(p26).period_us(100);
     
@@ -40,34 +40,34 @@
     
     LPC_PWM1->MR0 = 1200;       // Set the period.  This must be done before enabling PWM.
     LPC_PWM1->LER = (1 << 0);
-    motors_speed_set(0, 0);
+    motorsSpeedSet(0, 0);
     
     LPC_PWM1->TCR = (1 << 0) | (1 << 3);   // Enable the PWM counter and enable PWM.
 }
 
-void motors_speed_set(int16_t motor1_speed, int16_t motor2_speed)
+void motorsSpeedSet(int16_t motorLeftSpeed, int16_t motorRightSpeed)
 {
-    if (motor1_speed < 0)
+    if (motorLeftSpeed < 0)
     {
-        motor1_speed = -motor1_speed;
-        motor1Dir = 0;   
+        motorLeftSpeed = -motorLeftSpeed;
+        motorLeftDir = 0;   
     }
     else
     {
-        motor1Dir = 1;    
+        motorLeftDir = 1;
     }
-    LPC_PWM1->MR1 = motor1_speed;
+    LPC_PWM1->MR1 = motorLeftSpeed;
     
-    if (motor2_speed < 0)
+    if (motorRightSpeed < 0)
     {
-        motor2_speed = -motor2_speed;   
-        motor2Dir = 0;
+        motorRightSpeed = -motorRightSpeed;   
+        motorRightDir = 0;
     }
     else
     {
-        motor2Dir = 1;
+        motorRightDir = 1;
     }
-    LPC_PWM1->MR3 = motor2_speed;
+    LPC_PWM1->MR3 = motorRightSpeed;
     
     LPC_PWM1->LER |= (1<<1) | (1<<3);
 }