Reiko Randoja / Motor1Pwm1Dir

Library for driving a motor with one PWM and one DIR signal using PI control.

Fork of Motor2 by Reiko Randoja

Diff: motor.cpp

Revision:
11:87a73d40ce5b
Parent:
10:b0e6051a6109
Child:
12:1d3fb22bbdf9
--- a/motor.cpp	Sun Nov 03 11:41:40 2013 +0000
+++ b/motor.cpp	Sun Oct 19 08:31:18 2014 +0000
@@ -1,7 +1,7 @@
 #include "motor.h"
 
-Motor::Motor(PinName PWMpin, PCA9555 *ioExt, unsigned int dir1Pin, unsigned int dir2Pin, PinName encA, PinName encB)
-    : pwm(PWMpin), extIO(ioExt), dir1(dir1Pin), dir2(dir2Pin), qed(encA, encB) {
+Motor::Motor(PinName PWMpin, PCA9555 *ioExt, unsigned int dirPin, PinName encA, PinName encB)
+    : pwm(PWMpin), extIO(ioExt), dir(dirPin), qed(encA, encB) {
  
     pwmPeriod = 2500;
     PwmOut pwm(PWMpin);
@@ -32,13 +32,11 @@
     currentPWM = newPWM;
     if (newPWM < 0) {
         pwm.pulsewidth_us(-1 * newPWM);
-        extIO->setPin(dir1);
-        extIO->clearPin(dir2);
+        extIO->setPin(dir);
     } else {
         pwm.pulsewidth_us(newPWM);
-        extIO->clearPin(dir1);
-        extIO->setPin(dir2);
-    }    
+        extIO->clearPin(dir);
+    }
 }
 
 int Motor::getSpeed() {