Diff: pwm.cpp

Revision:

3:c9df852ad9ac

Parent:

1:12f18cede014

Child:

4:48d390356fba

--- a/pwm.cpp	Fri Feb 16 19:30:19 2018 +0000
+++ b/pwm.cpp	Wed Feb 21 11:55:29 2018 +0000
@@ -3,27 +3,41 @@
 #include "C12832.h"
 #include "pins.h"
 #include "pwm.h"
+#include "constants.cpp"
 //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
-#define FAST_PWM 0.7f
-#define SLOW_PWM 0.3f
-#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(0);
     motorDirRight.write(0);
     motorModeLeft.write(0); //1 =bipolar, 0 = unipolar
-    motorModeRight.write(0);
-    driveBoard.write(1);
+    motorModeRight.write(0); 
+    driveBoard.write(1); //enables the buggy to drive
+}
+
+if(joystickDown == 1){
+void buggyGoF(){ //drives forward
+    motorRight.write(NORMAL_PWM*potRight.read());
+    motorLeft.write(NORMAL_PWM*potLeft.read());
 }
-void buggyGoF(){ //drives forward
+
+void buggyGoLeft(){// drives left
+    motorRight.write(FAST_PWM*potRight.read());
+    motorLeft.write(SLOW_PWM*potLeft.read());
+}
+void buggyGoRight(){ //drives right
+    motorRight.write(SLOW_PWM*potRight.read());
+    motorLeft.write(FAST_PWM*potLeft.read());
+}
+}
+
+else{
+    void buggyGoF(){ //drives forward
     motorRight.write(NORMAL_PWM);
     motorLeft.write(NORMAL_PWM);
 }
@@ -32,10 +46,19 @@
     motorRight.write(FAST_PWM);
     motorLeft.write(SLOW_PWM);
 }
-void buggyGoRight(){ //drives fast
+void buggyGoRight(){ //drives right
     motorRight.write(SLOW_PWM);
     motorLeft.write(FAST_PWM);
 }
+}
+
+
+void buggyStop(){// no power
+    motorRight.write(0.0f);
+    motorLeft.write(0.0f);
+}
+
+
 void buggyStop(){// no power
     motorRight.write(0.0f);
     motorLeft.write(0.0f);