Reiko Randoja / Motor1Pwm1Dir

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Fork of Motor2 by Reiko Randoja

Files at this revision

API Documentation at this revision

Revision 11:87a73d40ce5b, committed 2014-10-19

Comitter:
Reiko
Date:
Sun Oct 19 08:31:18 2014 +0000
Parent:
10:b0e6051a6109
Child:
12:1d3fb22bbdf9
Commit message:
Removed second direction pin

Changed in this revision

motor.cpp Show annotated file Show diff for this revision Revisions of this file
motor.h Show annotated file Show diff for this revision Revisions of this file 
--- 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() {

--- a/motor.h	Sun Nov 03 11:41:40 2013 +0000
+++ b/motor.h	Sun Oct 19 08:31:18 2014 +0000
@@ -21,7 +21,7 @@
      * @param encA Encoder pin
      * @param encB Encoder pin
      */
-    Motor(PinName PWMpin, PCA9555 *ioExt, unsigned int dir1Pin, unsigned int dir2Pin, PinName encA, PinName encB);
+    Motor(PinName PWMpin, PCA9555 *ioExt, unsigned int dirPin, PinName encA, PinName encB);
     
     /** Set speed setpoint
      *
@@ -70,8 +70,7 @@
 private:
     PwmOut pwm;
     PCA9555 *extIO;
-    unsigned int dir1;
-    unsigned int dir2;
+    unsigned int dir;
     QED qed;
     
     int currentSpeed;