File content as of revision 3:c9df852ad9ac:

//this defines motor setup and movement
#include "mbed.h"
#include "C12832.h"
#include "pins.h"
#include "pwm.h"
#include "constants.cpp"
//will have to determine real pulsewidths by testing with encoder

//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); //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 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);
}

void buggyGoLeft(){// drives left
    motorRight.write(FAST_PWM);
    motorLeft.write(SLOW_PWM);
}
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);
}