Revision 0:e492422d50a7, committed 2020-03-17

Comitter:

Sigma884

Date:

Tue Mar 17 12:30:18 2020 +0000

Commit message:

commit for publish stability_seed2019_v1

Changed in this revision

--- /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);
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Motor_lib.h	Tue Mar 17 12:30:18 2020 +0000
@@ -0,0 +1,27 @@
+#ifndef MOTOR_LIB_H
+#define MOTOR_LIB_H
+
+#include "mbed.h"
+
+class Motor_lib{
+    
+    public:
+    Motor_lib(PinName pin1, PinName pin2);
+    float status;
+    private:
+    PwmOut out1;
+    PwmOut out2;
+    Motor_lib *mlib;
+    Timeout stopTime;
+    
+    public:
+    void turn_a();
+    void turn_a(float power);
+    void turn_b();
+    void turn_b(float power);
+    void stop();
+    void break_stop(float time);
+    void break_stop();
+};
+
+#endif
\ No newline at end of file