CustomExplorerRobot.cpp

00001 /* mbed CustomExplorerRobot Library
00002  *
00003  * CustomExplorerRobot.cpp
00004  *
00005  * Copyright (c) 2016 Yusuke Aihara
00006  *
00007  * Permission is hereby granted, free of charge, to any person obtaining a copy
00008  * of this software and associated documentation files (the "Software"), to deal
00009  * in the Software without restriction, including without limitation the rights
00010  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00011  * copies of the Software, and to permit persons to whom the Software is
00012  * furnished to do so, subject to the following conditions:
00013  *
00014  * The above copyright notice and this permission notice shall be included in
00015  * all copies or substantial portions of the Software.
00016  *
00017  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00018  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00019  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00020  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00021  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00022  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00023  * THE SOFTWARE.
00024  */
00025 
00026 #include "mbed.h"
00027 #include "CustomExplorerRobot.h"
00028 
00029 CustomExplorerRobot::CustomExplorerRobot() : _right(PC_7, PC_6), _left(PC_8, PC_9), _redled(PC_5), _blueled(PA_12), _buzzer(PA_11) {
00030     _right = 0.0f;
00031     _left = 0.0f;
00032     _redled = 1.0f;
00033     _blueled = 1.0f;
00034     _buzzer = 0.0f;
00035 }
00036     
00037 void CustomExplorerRobot::left_motor(float speed){
00038     _left = speed;
00039 }
00040     
00041 void CustomExplorerRobot::right_motor(float speed){
00042     _right = speed;
00043 }
00044     
00045 void CustomExplorerRobot::forward(float speed){
00046     _left = speed;
00047     _right = speed;
00048 }
00049     
00050 void CustomExplorerRobot::backward(float speed){
00051     _left = -speed;
00052     _right = -speed;
00053 }
00054     
00055 void CustomExplorerRobot::left(float speed){
00056     _left = -speed;
00057     _right = speed;
00058 }
00059 
00060 void CustomExplorerRobot::right(float speed){
00061     _left = speed;
00062     _right = -speed;
00063 }
00064 
00065 void CustomExplorerRobot::stop(void){
00066     _left = 0.0f;
00067     _right = 0.0f;
00068 }