Diff: RobotControl.cpp

Revision:

0:aed6099bd419

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/RobotControl.cpp	Thu Mar 14 09:28:30 2019 +0000
@@ -0,0 +1,52 @@
+#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 = 0.2;
+    
+    m_motorBw.period_ms(1);
+    m_motorFw.period_ms(1);
+    
+    SetDirection(1);
+    SetSpeed(0.2);
+}
+    
+    
+void RobotControl::SetDirection(bool dir){
+    /*set direction of one of the sides depending on pwmSelect
+    direction : 1 go backwards  ,0 go forward*/    
+    
+    m_motorBw.write(0);
+    m_motorFw.write(0);
+    
+    wait(0.001);
+        
+    if(!dir){
+        m_motorEnable = false;
+        m_pwmPtr = &m_motorFw;
+    }else{
+        m_motorEnable = true;
+        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<=0) m_pwmPtr->write(0);
+    else if(speed>=1.0)m_pwmPtr->write(1.0);
+    else m_pwmPtr->write(speed);   
+         
+}
+
+