Diff: L293D/L293D.cpp

Revision:

0:da3eb35a2787

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/L293D/L293D.cpp	Mon Apr 09 03:10:30 2012 +0000
@@ -0,0 +1,62 @@
+
+#include "mbed.h"
+#include "L293D.h"
+
+// Constructor
+ L293D::L293D( PwmOut pwmLeft, PwmOut pwmRight, DigitalOut left, DigitalOut right )
+     :_left(left), _right(right),_pwmLeft( pwmLeft ), _pwmRight( pwmRight ){
+    
+        _pwmLeft  = 0.0;
+        _pwmRight = 0.0;
+        
+        _left = 0;
+        _right= 0;
+                        
+}
+
+void L293D::setSpeedLeft( float speed )
+{
+    _speedLeft = speed;
+    
+    _left = ( speed > 0.0 );
+    _pwmLeft = abs( speed );
+
+}
+
+void L293D::setSpeedRight( float speed )
+{
+    _speedRight = speed;
+    _right    = ( speed > 0.0 );
+    _pwmRight = abs( speed );
+
+}
+
+
+float L293D::getSpeedLeft()
+{
+    float temp = _pwmLeft.read();
+        
+    // This is done to ensure a -1.0 to 1.0 value is returned
+    if( _speedLeft > 0 )
+        return temp;
+    else
+        return temp * -1;
+    
+}
+
+float L293D::getSpeedRight()
+{
+    float temp = _pwmRight.read();
+    
+    // This is done to ensure a -1.0 to 1.0 value is returned
+    if( _speedRight > 0 )
+        return temp;
+    else
+        return temp * -1;
+    
+}
+
+
+
+
+