Xiaofei Qiu / Command

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Diff: Command.cpp

Revision:
10:6e32b53f04c3
Parent:
6:bbaabcc5206d
Child:
11:6c56d8ca6e99
--- a/Command.cpp	Sat Nov 28 23:20:31 2015 +0000
+++ b/Command.cpp	Sun Nov 29 00:02:54 2015 +0000
@@ -57,6 +57,21 @@
     }
 }
 
+void GoStraightCommand :: execute()
+{
+    _STBY = 1;
+    if(_IS_NEGATIVE)
+    {
+        _RIGHT_WHEEL.speed(-_SPEED);
+        _LEFT_WHEEL.speed(-_SPEED);
+    }
+    else
+    {
+        _RIGHT_WHEEL.speed(_SPEED);
+        _LEFT_WHEEL.speed(_SPEED);
+    }
+}
+
 void StopCommand :: execute()
 { 
     _RIGHT_WHEEL.speed(0.0);