Diff: YellowMotors.h

Revision:

3:c656543830df

Parent:

2:6f6e591f1838

Child:

4:aef786c67b2d

--- a/YellowMotors.h	Thu Feb 04 02:50:06 2016 +0000
+++ b/YellowMotors.h	Thu Feb 04 15:45:09 2016 +0000
@@ -1,15 +1,21 @@
 #ifndef YELLOWMOTORS_H
 #define YELLOWMOTORS_H
 
+#define L_F 0x4
+#define L_B 0x8
+#define R_F 0x2
+#define R_B 0x10
+
 #include "mbed.h"
 extern Serial pc;
-extern DigitalIn s1;
+
 // this is rather strange case, because my motors aren't performing both well. Left one has far weaker, causing delayed start-up and lower RPM. Thus my functions differ. I have a whole bigass spreadsheet of graphs and calculations by the way.
-
 float motorLinearizationL(float);  // left motor is worse. at max desired speed it'll run at full 100% speed. this is thus weaker compensation.
 float motorLinearizationR(float);  //  this is stronger compensation for more powerful motor. it runs it at < 100% speed
 
-class YellowMotors
+class YellowMotors // this class represents a shield. It's job is to control directions shift register and to forward received speed commands to aproprieate motors.
+// The motors are objects of nested class MotorItself. The goal was to call methods directly on motors, but since they require different direcion regiter macros and linearizing functions, I made them to be private and accesible only through the parent YelloMotors object.
+// It could that the motors get pointers to their linearization functions and macros at the initalization, but, meh, I'm not that passionate about C++.
 {
 private:
     DigitalOut _clk;
@@ -19,30 +25,28 @@
     char _directions;
     PinName Lpwm;
     PinName Rpwm;
-public:
-    YellowMotors(PinName clk = D4, PinName  lat = D12, PinName  dat = D8, PinName ena = D7, PinName Lpwm = D11, PinName Rpwm = D3);
-    void setDirections(char); // shift directions to shift register on Adafruit motor shield v1
-    class motorItself  // define a class for separate motors objects.
+    class MotorItself  // define a class for separate motors objects.
     {
     private:
+
+    public:
         PwmOut _pwmPin;
         float _pwmSigned; // signed with direction
-    public:
         int speed;
-        motorItself(PinName pwmPin): _pwmPin(pwmPin) {};  // fuck you, you default constructor.
-        
-        explicit motorItself(float value): _pwmPin(D0) {  // _pwmPin(FUCKYOU) , pwm has no default constructor.. JEEEZ
+        MotorItself() : _pwmPin(NC) {};
+        MotorItself(PinName pwmPin): _pwmPin(pwmPin) {};  // fuck you, you default constructor.
+        /*
+        explicit MotorItself(float value): _pwmPin(D0) {  // _pwmPin(FUCKYOU) , pwm has no default constructor.. JEEEZ. that messes up the whole instance.
             this->_pwmSigned = value; // store this value;
             //_pwmPin = abs(value); // to be done: apply linearization
             pc.printf("explicit glupi/n/r");
         }
-        
-
+        */
         //operator float();
         void operator= (const float value) {
             this->_pwmSigned = value; // store this value;
-            this->_pwmPin.write(abs(value)); // to be done: apply linearization
-            pc.printf("jestem w operatorze =. przypisuje %.2f. odczyt: %f\n\r", abs(value), _pwmPin.read());
+            this->_pwmPin.write(value); // to be done: apply linearization
+            //pc.printf("jestem w operatorze =. przypisuje %.2f. odczyt: %f\n\r", abs(value), _pwmPin.read());
         };
         bool operator== ( float value) {
             return abs(this->_pwmSigned) == value ;
@@ -51,9 +55,13 @@
         //    return toreturn._pwmSigned; // return current desired speed with direction indication
         //};
     };
-    motorItself L(PinName pin = D8);
-    motorItself R(PinName pin = D11);
-
+    MotorItself L, R;
+public:
+    YellowMotors(PinName clk = D4, PinName  lat = D12, PinName  dat = D8, PinName ena = D7, PinName Lpwm = D11, PinName Rpwm = D3);
+    void setDirections(char); // shift directions to shift register on Adafruit motor shield v1
+    void operator= (const float value);
+    void set(float value, int whichMotor = -1);
+    float get(int whichMotor = -1);
 };
 
 #endif
\ No newline at end of file