Diff: motor_api.cpp

Revision:

10:9f0ce6ba7663

Parent:

7:fd976e1ced33

--- a/motor_api.cpp	Tue Jun 24 10:06:54 2014 +0000
+++ b/motor_api.cpp	Thu Jun 26 14:29:53 2014 +0000
@@ -1,56 +1,33 @@
 #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????
+BX_motor::BX_motor(char type){
+  //need N level????
   engine_enable = new DigitalOut(PTE21);  
-  
-   *engine_enable=1;
-    
+  *engine_enable=1;
     Type=type;
     switch (type){
-     
         case 'A':
-          forward_A = new PwmOut(PTC3);
-          backward_A = new   PwmOut(PTC4);
+         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;
+         *forward_A=0.0f;
+         *backward_A=0.0f;
+         break;
         
-        
-       case 'B':     
-         
-         forward_B = new PwmOut(PTC1);
-         backward_B = new PwmOut(PTE30);
+        case 'B':     
+         forward_B = new PwmOut(PTE29);
+         backward_B = new PwmOut(PTE23);
          forward_B->period_ms(init_v);
          backward_B->period_ms(init_v);
-         *forward_B=0.5f;
-         *backward_B=0.5f;
-       break;
-     
-     
-     
-  }
-     
+         *forward_B=0.0f;
+         *backward_B=0.0f;
+       break;     
     }
+}
 
 
 // level: -1.0 ~1.0
@@ -59,36 +36,30 @@
        Level=level;
     
        if(level >0){
-         
          switch(Type){
-         
          case 'A':
               *forward_A=level;
-              *backward_A=0;
+              *backward_A=0.01;
          break;
          case 'B':
               *forward_B=level;
-              *backward_B=0;
+              *backward_B=0.01;
          break;  
          }
-           
-       }else if(level <0){
-           
-            level=-1.0*level;
-           
-         switch(Type){
-         
+        }
+       else if(level <0){   
+        level=-1.0*level;
+        switch(Type){
          case 'A':
-             *forward_A=0;
+             *forward_A=0.01;
               *backward_A=level;
          break;
          case 'B':
-            *forward_B=0;
+            *forward_B=0.01;
               *backward_B=level;
          break;  
          }
-           
-      }
+        }
        else{
          switch(Type){
          
@@ -98,22 +69,11 @@
                 
             break;
             case 'B':
-               *forward_B=1.0f;
+              *forward_B=1.0f;
               *backward_B=1.0f;
             break;  
          }
-           
-           
-           }
-       
-       
-    
-    
-    
-    
-    
-    
-    
+        }    
 }