Diff: MotorShield.cpp

Revision:

5:d2dffc88e94d

Parent:

4:2b45973bdc67

Child:

7:e3a2ade56b79

--- a/MotorShield.cpp	Wed Aug 26 02:49:34 2020 +0000
+++ b/MotorShield.cpp	Wed Aug 26 14:37:16 2020 +0000
@@ -22,47 +22,58 @@
         
 }
  
-void MotorShield::motorAWrite(double duty_cycle, int direction) {
+void MotorShield::motorAWrite(float duty_cycle, int direction) {
+    int tick = (int)(periodTickVal * duty_cycle); 
+
     if (direction){
-            TIM12->CCR2 = int(periodTickVal * duty_cycle);
-            TIM12->CCR1 = 0;
+            
+            TIM15->CCR2 = tick;
+            TIM15->CCR1 = 0;
+
     }
     else {
-            TIM12->CCR2 = 0;
-            TIM12->CCR1 = int(periodTickVal * duty_cycle);
+            TIM15->CCR2 = 0;
+            TIM15->CCR1 = tick;
     }
     
 }
 
-void MotorShield::motorBWrite(double duty_cycle, int direction) {
+void MotorShield::motorBWrite(float duty_cycle, int direction) {
+    int tick = (int)(periodTickVal * duty_cycle); 
+
     if (direction){
-            TIM15->CCR2 = int(periodTickVal * duty_cycle);
-            TIM15->CCR1 = 0;
+            TIM12->CCR2 = tick;
+            TIM12->CCR1 = 0;
     }
     else {
-            TIM15->CCR2 = 0;
-            TIM15->CCR1 = int(periodTickVal * duty_cycle);
+            TIM12->CCR2 = 0;
+            TIM12->CCR1 = tick;
     }
+
 }
 
-void MotorShield::motorCWrite(double duty_cycle, int direction) {
+void MotorShield::motorCWrite(float duty_cycle, int direction) {
+    int tick = (int)(periodTickVal * duty_cycle); 
+
     if (direction){
-            TIM13->CCR1 = int(periodTickVal * duty_cycle);
-            TIM14->CCR1 = 0;
+            TIM13->CCR1 = 0;
+            TIM14->CCR1 = tick;
     }
     else {
-            TIM13->CCR1 = 0;
-            TIM14->CCR1 = int(periodTickVal * duty_cycle);
+            TIM13->CCR1 = tick;
+            TIM14->CCR1 = 0;
     }
 }
-void MotorShield::motorDWrite(double duty_cycle, int direction) {
+void MotorShield::motorDWrite(float duty_cycle, int direction) {
+    int tick = (int)(periodTickVal * duty_cycle); 
+
     if (direction){
-            TIM16->CCR1 = int(periodTickVal * duty_cycle);
+            TIM16->CCR1 = tick;
             TIM17->CCR1 = 0;
     }
     else {
             TIM16->CCR1 = 0;
-            TIM17->CCR1 = int(periodTickVal * duty_cycle);
+            TIM17->CCR1 = tick;
     }
 }