Revision 3:45035c94addb, committed 2018-12-11

Comitter:

abraha2d

Date:

Tue Dec 11 06:32:10 2018 +0000

Parent:

2:f265e441bcd9

Commit message:

Add support for short braking

Changed in this revision

diff -r f265e441bcd9 -r 45035c94addb Motor.cpp
--- a/Motor.cpp	Tue Nov 23 16:16:43 2010 +0000
+++ b/Motor.cpp	Tue Dec 11 06:32:10 2018 +0000
@@ -32,8 +32,8 @@
     _pwm = 0;
 
     // Initial condition of output enables
-    _fwd = 0;
-    _rev = 0;
+    _fwd = 1;
+    _rev = 1;
 }
 
 void Motor::speed(float speed) {
@@ -42,5 +42,8 @@
     _pwm = abs(speed);
 }
 
-
-
+void Motor::brake(int shortBrake) {
+    _fwd = shortBrake;
+    _rev = shortBrake;
+    _pwm = 0;
+}

diff -r f265e441bcd9 -r 45035c94addb Motor.h
--- a/Motor.h	Tue Nov 23 16:16:43 2010 +0000
+++ b/Motor.h	Tue Dec 11 06:32:10 2018 +0000
@@ -45,6 +45,12 @@
      * @param speed The speed of the motor as a normalised value between -1.0 and 1.0
      */
     void speed(float speed);
+    
+    /** Brake the motor
+     * 
+     * @param shortBrake Whether to short brake the motor or not.
+     */
+    void brake(int shortBrake);
 
 protected:
     PwmOut _pwm;