File content as of revision 2:6f6e591f1838:

#include <math.h>
#include "YellowMotors.h"
#include "mbed.h"


float motorLinearizationL(float desired)
{
    return (float)((6.6691*(exp(0.0249053*(desired*100))+2.92508))/100.0);
};

float motorLinearizationR(float desired)
{
    return (float)(4.096509*(exp(0.0286952296*(desired*100))+5.073644964)/100.0); // \/ history of trial and error
    //return 5.9693939*(exp(0.0251906*(desired*100))+3.162519)/100.0; // that wasn't that bad at all! to early start, the rest ok
    //return (3.45183*(exp(0.0292461*(desired*100))+5.51727))/100.0;
};

YellowMotors::YellowMotors(PinName clk, PinName  lat, PinName  dat, PinName ena, PinName Lpwm, PinName Rpwm) : _clk(clk), _lat(lat), _dat(dat), _ena(ena)//, _Lpwm(Lpwm), _Rpwm(Rpwm)
{
    //PwmOut _Lpwm(D11);
    //PwmOut _Rpwm(D3);
    //DigitalOut _dat(dat);
    //DigitalOut _clk(clk);
    //DigitalOut _lat(lat);

    // and create motor objects
    _ena.write(0);
    //pc.printf("konstruktor yellow. Lpwm: %d\n\r", Lpwm);
    //motorItself::motorItself L(D11);//Lpwm);
    //motorItself::motorItself R(D3);//Rpwm);
}

void YellowMotors::setDirections(char directions)
{
    _directions = directions;
    _lat = 0;
    for (signed char i = 7; i >= 0; i--) {
        _clk = 0;
        _dat = (directions >> i) & 0x1;
        wait(0.00001);
        _clk = 1;
    }
    _lat = 1;
    _clk = 0;
};