File content as of revision 0:a02a278513d9:

#include "RobotControl_H.h"
#include <mbed.h>


RobotControl::RobotControl(PinName pin1, PinName pin2, PinName pin3):m_motorEnable(pin1),m_motorBw(pin2),m_motorFw(pin3){
    /*class constructor : initializes the motors with 
    forward enable and speed of 0.3 */
    
    m_dir = true;
    m_speed = 0.3;
    SetDirection(m_dir);
    SetSpeed(m_speed);
}
    
    
void RobotControl::SetDirection(bool dir){
    /*set direction of one of the sides depending on pwmSelect
    direction : 1 go forward  ,0 go backwards */    
    
    m_motorBw.write(0);
    m_motorFw.write(0);
    
    wait(0.1);
        
    if(dir){
        m_motorEnable = true;
        m_pwmPtr = &m_motorFw;
    }else{
        m_motorEnable = false;
        m_pwmPtr = &m_motorBw;
    }
    
    m_prevDir = dir;
        
}


void RobotControl::SetSpeed(float speed){
    /*set speed on the pwm which is point by m_pwmPtr (set by SetDirection)
    speed : the speed given to the motor, ranges from 0 to 1*/
    
    if(speed<=1.0 && speed > 0.0){
        m_pwmPtr->write(speed);
    }else{
        m_pwmPtr->write(0);
    }     
}