Diff: motor_api.cpp

Revision:

0:68c173249c01

Child:

7:fd976e1ced33

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/motor_api.cpp	Sun May 25 12:41:59 2014 +0000
@@ -0,0 +1,120 @@
+#include "mbed.h"
+#include "motor_api.h"
+
+#define init_v 10  // period in 1.35 ~170ms
+
+
+
+
+
+
+
+
+ BX_motor::BX_motor(char type){
+    
+    
+ 
+ 
+  
+   //need N level????
+  engine_enable = new DigitalOut(PTE21);  
+  
+   *engine_enable=1;
+    
+    Type=type;
+    switch (type){
+     
+        case 'A':
+          forward_A = new PwmOut(PTC3);
+          backward_A = new   PwmOut(PTC4);
+         
+         forward_A->period_ms(init_v);
+         backward_A->period_ms(init_v);
+         *forward_A=0.5f;
+         *backward_A=0.5f;
+        
+        break;
+        
+        
+       case 'B':     
+         
+         forward_B = new PwmOut(PTC1);
+         backward_B = new PwmOut(PTC2);
+         forward_B->period_ms(init_v);
+         backward_B->period_ms(init_v);
+         *forward_B=0.5f;
+         *backward_B=0.5f;
+       break;
+     
+     
+     
+  }
+     
+    }
+
+
+// level: -1.0 ~1.0
+void BX_motor::rotate(float level){
+       
+       Level=level;
+    
+       if(level >0){
+         
+         switch(Type){
+         
+         case 'A':
+              *forward_A=level;
+              *backward_A=0;
+         break;
+         case 'B':
+              *forward_B=level;
+              *backward_B=0;
+         break;  
+         }
+           
+       }else if(level <0){
+           
+            level=-1.0*level;
+           
+         switch(Type){
+         
+         case 'A':
+             *forward_A=0;
+              *backward_A=level;
+         break;
+         case 'B':
+            *forward_B=0;
+              *backward_B=level;
+         break;  
+         }
+           
+      }
+       else{
+         switch(Type){
+         
+            case 'A':
+              *forward_A=1.0f;
+              *backward_A=1.0f;
+                
+            break;
+            case 'B':
+               *forward_B=1.0f;
+              *backward_B=1.0f;
+            break;  
+         }
+           
+           
+           }
+       
+       
+    
+    
+    
+    
+    
+    
+    
+}
+
+
+