Gaëtan Andrieu / Motordriver

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Diff: motordriver.cpp

Revision:
6:8f0bbf0076ca
Parent:
5:3110b9209d3c
--- a/motordriver.cpp	Thu Nov 25 13:34:15 2010 +0000
+++ b/motordriver.cpp	Mon Apr 01 16:16:43 2019 +0000
@@ -120,6 +120,19 @@
         return -3;//error
 }
 
+float Motor::direction(void) {
+    if ((_fwd == _rev) && (_pwm > 0)) {
+        return -2;//braking
+    } else if (_pwm == 0) {
+        return 2;//coasting
+    } else if ((_fwd == 0) && (_rev == 1)) {
+        return -1;//reversing
+    }  else if ((_fwd == 1) && (_rev == 0)) {
+        return 1;//fowards
+    } else
+        return -3;//error
+}
+
 /*
  test code, this demonstrates working motor drivers.