Diff: src/Move/move.cpp

Revision:

1:ceee5a608e7c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/Move/move.cpp	Thu Mar 28 07:44:42 2019 +0000
@@ -0,0 +1,134 @@
+/**
+  ******************************************************************************
+  * @file    Move.cpp
+  * @author  RBRO/PJ-IU
+  * @version V1.0.0
+  * @date    day-month-year
+  * @brief   This file contains the class definition for the moving
+  *          functionality.
+  ******************************************************************************
+ */
+
+#include "mbed.h"
+#include <Move/move.hpp>
+//#include <array.h>
+
+/** \brief  Move Class constructor
+ *
+ *  Constructor method
+ *
+ *  @param _pwm_servo
+ *  @param _pwm_driver
+ *  @param _ina_driver
+ *  @param _inb_driver
+ *  @param _current_driver
+ */
+Move::Move(
+        PinName _pwm_servo,
+        PinName _pwm_driver, 
+        PinName _ina_driver, 
+        PinName _inb_driver, 
+        PinName _current_driver)
+    :servo(_pwm_servo),
+    vnh(_pwm_driver,_ina_driver,_inb_driver,_current_driver)
+{
+};
+
+/** \brief  Move Class destructor
+ *
+ *  Destructor method
+ *
+ *  
+ */
+Move::~Move()
+{
+};
+
+/** \brief  Steer method
+ *
+ *  @param angle
+ *  
+ */
+void Move::Steer(float angle)
+{
+    if ((angle <= 23) && (angle >= -23))
+        servo.SetAngle(angle);
+};
+
+/** \brief  Move method
+ *
+ *  @param speed The Pwm value, must belong to [0,100].
+ *  
+ */
+void Move::Speed(float speed)
+{
+    speed /=100;
+    vnh.Run(speed);
+};
+
+/** \brief  Brake method
+ *
+ *  
+ *  
+ */
+void Move::Brake()
+{
+    vnh.Brake();
+}
+
+/** \brief  Hard brake method
+ *
+ *  @param f_speed The Pwm value, must belong to [0,100].
+ *  
+ */
+void Move::Inverse(float f_speed)
+{
+    f_speed /=100;
+    vnh.Inverse(f_speed);
+}
+
+/** \brief  Car testing method
+ *
+ *  
+ *  
+ */
+void Move::TestCar()
+{
+    Steer(20);
+    wait(1);
+    Steer(0);
+    wait(1);
+    Steer(-20);
+    wait(1);
+    ResetCar();
+    wait(1);
+    Speed(25);
+    wait(1);
+    Speed(0);
+    wait(1);
+    Speed(-25);
+    wait(1);
+    ResetCar();
+    wait(1);
+};
+
+/** \brief  Reset speed and steer method
+ *
+ *  
+ *  
+ */
+void Move::ResetCar()
+{
+    Steer(0);
+    Speed(0);
+};
+
+/** \brief  Get bridge (driver) object reference method
+ *
+ *  
+ *  @return    reference to VNH object
+ */
+drivers::VNH& Move::getVNH() 
+{ 
+    return vnh; 
+}