Diff: Command.cpp

Revision:

4:3fbe2d75f7eb

Parent:

3:97a5a3744481

Child:

5:0032e2f8949c

--- a/Command.cpp	Sat Nov 28 02:34:41 2015 +0000
+++ b/Command.cpp	Sat Nov 28 19:32:29 2015 +0000
@@ -3,8 +3,8 @@
 #include "mbed.h"
 #include "Motor.h"
 
-Motor _RIGHT_WHEEL(p25, p6, p5);    // Motor A pwm, fwd, rev
-Motor _LEFT_WHEEL(p26, p7, p8);     // Motor B pwm, fwd, rev
+Motor _LEFT_WHEEL(p25, p6, p5);    // Motor A pwm, fwd, rev
+Motor _RIGHT_WHEEL(p26, p7, p8);     // Motor B pwm, fwd, rev
 DigitalOut _STBY(p12);              // Set STBY = 1, enable both motor; Set STBY = 0; disable both motor. 
 AnalogIn _IR(p17);                  // IR sensor
 DigitalOut _LED1(LED1);
@@ -33,12 +33,12 @@
     if(_IS_NEGATIVE)
     {
         _RIGHT_WHEEL.speed(-_SPEED);
-        _LEFT_WHEEL.speed(-0.2);
+        _LEFT_WHEEL.speed(-_SPEED*0.90);
     }
     else
     {
         _RIGHT_WHEEL.speed(_SPEED);
-        _LEFT_WHEEL.speed(0.2);
+        _LEFT_WHEEL.speed(_SPEED*0.90);
     }
 }
 
@@ -47,34 +47,20 @@
     _STBY = 1;
     if(_IS_NEGATIVE)
     {
-        _RIGHT_WHEEL.speed(-0.2);
+        _RIGHT_WHEEL.speed(-_SPEED*0.90);
         _LEFT_WHEEL.speed(-_SPEED);
     }
     else
     {
-        _RIGHT_WHEEL.speed(0.2);
+        _RIGHT_WHEEL.speed(_SPEED*0.90);
         _LEFT_WHEEL.speed(_SPEED);
     }
 }
 
-void MoveForwardCommand :: execute()
-{
-    //_STBY = 1;
-    //_RIGHT_WHEEL.speed(0.5);
-    //_LEFT_WHEEL.speed(0.5);
+void StopCommand :: execute()
+{ 
+    _RIGHT_WHEEL.speed(0.0);
+    _LEFT_WHEEL.speed(0.0);
+    _STBY = 0;
 }
 
-void MoveBackwardCommand :: execute()
-{
-
-    //_STBY = 1;
-    //_RIGHT_WHEEL.speed(_RIGHT_SPEED);
-    ////_LEFT_WHEEL.speed(_LEFT_SPEED);
-}
-
-void StopCommand :: execute()
-{ 
-    //_RIGHT_WHEEL.speed(_RIGHT_SPEED);
-    //_LEFT_WHEEL.speed(_LEFT_SPEED);
-}
-