Diff: pwm.cpp

Revision:

1:12f18cede014

Parent:

0:62e51b80d738

Child:

3:c9df852ad9ac

--- a/pwm.cpp	Thu Feb 15 13:19:37 2018 +0000
+++ b/pwm.cpp	Thu Feb 15 20:17:42 2018 +0000
@@ -1,7 +1,8 @@
 //this defines motor setup and movement
 #include "mbed.h"
 #include "C12832.h"
-#include "pins.cpp"
+#include "pins.h"
+#include "pwm.h"
 //will have to determine real pulsewidths by testing with encoder
 //constants to be utilized in the buggy, can be changed as required
 #define NORMAL_PWM 0.5f
@@ -10,17 +11,16 @@
 #define RIGHT_MOTOR_CONST 1
 #define LEFT_MOTOR_CONST 1
 #define MOTOR_PERIOD 1.0f
-
 //currently the setup uses unipolar mode, hence the need for direction
 
 
 void motorSetup(){
     motorRight.period_ms(MOTOR_PERIOD);
     motorLeft.period_ms(MOTOR_PERIOD);
-    motorDirLeft.write(1);
-    motorDirRight.write(1);
-    motorModeLeft.write(1);
-    motorModeRight.write(1);
+    motorDirLeft.write(0);
+    motorDirRight.write(0);
+    motorModeLeft.write(0); //1 =bipolar, 0 = unipolar
+    motorModeRight.write(0);
     driveBoard.write(1);
 }
 void buggyGoF(){ //drives forward