Diff: Motor_lib.cpp

Revision:

0:e492422d50a7

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Motor_lib.cpp	Tue Mar 17 12:30:18 2020 +0000
@@ -0,0 +1,53 @@
+#include "Motor_lib.h"
+#include "mbed.h"
+
+Motor_lib :: Motor_lib(PinName pin1, PinName pin2) : out1(pin1),out2(pin2){
+    mlib = this;
+    out1 = 0;
+    out2 = 0;
+    status = 0;
+}
+
+void Motor_lib :: turn_a(){
+    out1 = 1;
+    out2 = 0;
+    status = 1;
+}
+
+void Motor_lib :: turn_a(float power){
+    out1 = power;
+    out2 = 0;
+    status = power;
+}
+
+void Motor_lib :: turn_b(){
+    out1 = 0;
+    out2 = 1;
+    status = -1;
+}
+
+void Motor_lib :: turn_b(float power){
+    out1 = 0;
+    out2 = power;
+    status = power * -1;
+}
+
+void Motor_lib :: stop(){
+    out1 = 0;
+    out2 = 0;
+    status = 0;
+}
+
+void Motor_lib :: break_stop(float time){
+    out1 = 1;
+    out2 = 1;
+    status = 0;
+    stopTime.attach(mlib, &Motor_lib::stop, time);
+}
+
+void Motor_lib :: break_stop(){
+    out1 = 1;
+    out2 = 1;
+    status = 0;
+    stopTime.attach(mlib, &Motor_lib::stop, 0.1f);
+}
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