Gaëtan Andrieu / Motordriver

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Revision 6:8f0bbf0076ca, committed 2019-04-01

Comitter:
Gaetan_Andrieu
Date:
Mon Apr 01 16:16:43 2019 +0000
Parent:
5:3110b9209d3c
Commit message:
projet

Changed in this revision

motordriver.cpp Show annotated file Show diff for this revision Revisions of this file
motordriver.h Show annotated file Show diff for this revision Revisions of this file 
--- 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.
 

--- a/motordriver.h	Thu Nov 25 13:34:15 2010 +0000
+++ b/motordriver.h	Mon Apr 01 16:16:43 2019 +0000
@@ -74,6 +74,7 @@
 * @return state of motor, -1 to 1 is speed, -2 is braking, 2 is coasting. -3 is error. 
 */
         float state(void);
+        float direction(void);
         
     protected:
         PwmOut _pwm;