Alexander Welz
/
BERTL16_LineDrive
BERTL16 LineDrive
dracuDrive.cpp@0:68b692bb433c, 2019-01-24 (annotated)
- Committer:
- WelzAlex
- Date:
- Thu Jan 24 21:06:58 2019 +0000
- Revision:
- 0:68b692bb433c
BERTL16Drive
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
WelzAlex | 0:68b692bb433c | 1 | #include "dracuDrive.h" |
WelzAlex | 0:68b692bb433c | 2 | #include "mbed.h" |
WelzAlex | 0:68b692bb433c | 3 | |
WelzAlex | 0:68b692bb433c | 4 | |
WelzAlex | 0:68b692bb433c | 5 | dracuMotor::dracuMotor(PinName MotorEN, PinName MotorFOR , PinName MotorREV): |
WelzAlex | 0:68b692bb433c | 6 | motorEnabled(MotorEN), motorForward(MotorFOR), motorReverse(MotorREV) |
WelzAlex | 0:68b692bb433c | 7 | { |
WelzAlex | 0:68b692bb433c | 8 | motorEnabled = 0.0; |
WelzAlex | 0:68b692bb433c | 9 | } |
WelzAlex | 0:68b692bb433c | 10 | void dracuMotor::Speed(float speed) |
WelzAlex | 0:68b692bb433c | 11 | { |
WelzAlex | 0:68b692bb433c | 12 | if (speed <0) |
WelzAlex | 0:68b692bb433c | 13 | { |
WelzAlex | 0:68b692bb433c | 14 | motorForward =0; |
WelzAlex | 0:68b692bb433c | 15 | motorReverse =1; |
WelzAlex | 0:68b692bb433c | 16 | motorEnabled = (-1)*speed; |
WelzAlex | 0:68b692bb433c | 17 | } |
WelzAlex | 0:68b692bb433c | 18 | else |
WelzAlex | 0:68b692bb433c | 19 | { |
WelzAlex | 0:68b692bb433c | 20 | motorForward =1; |
WelzAlex | 0:68b692bb433c | 21 | motorReverse =0; |
WelzAlex | 0:68b692bb433c | 22 | motorEnabled = speed; |
WelzAlex | 0:68b692bb433c | 23 | } |
WelzAlex | 0:68b692bb433c | 24 | _speed = speed; |
WelzAlex | 0:68b692bb433c | 25 | } |
WelzAlex | 0:68b692bb433c | 26 | |
WelzAlex | 0:68b692bb433c | 27 | dracuMotor::operator float () |
WelzAlex | 0:68b692bb433c | 28 | { |
WelzAlex | 0:68b692bb433c | 29 | return _speed; |
WelzAlex | 0:68b692bb433c | 30 | } |