Revision 5:6dbb019203e9, committed 2016-02-05

Comitter:

amateusz

Date:

Fri Feb 05 16:28:29 2016 +0000

Parent:

4:aef786c67b2d

Commit message:

There is now a class for the shield as a whole, which makes managing easy. The whole thing have been rewritten.

Changed in this revision

--- a/YellowMotors.cpp	Fri Feb 05 15:49:11 2016 +0000
+++ b/YellowMotors.cpp	Fri Feb 05 16:28:29 2016 +0000
@@ -41,7 +41,7 @@
 };
 void YellowMotors::set(float value, int whichMotor )
 {
-    pc.printf("value: %.3f", value);
+    //pc.printf("value: %.3f", value);
     char directionsNew = _directions;
     if(whichMotor == -1) { // case set both;
         L = motorLinearizationL(abs(value));
@@ -116,11 +116,11 @@
 void YellowMotors::setDirections(char directions)
 {
     if (_led != 0) *_led = 1;
-    pc.printf("\n\r_led ma adres: %d\n\r", _led);
-    pc.printf("### set dirs: ");
+    //pc.printf("\n\r_led ma adres: %d\n\r", _led);
+    //pc.printf("### set dirs: ");
     for(int i=0; i<8; ++i)
-        pc.printf("%c", ((directions >> (7-i)) & 0x1)?'x':'_');
-    pc.printf(" ###\n\r");
+        //pc.printf("%c", ((directions >> (7-i)) & 0x1)?'x':'_');
+    //pc.printf(" ###\n\r");
     _directions = directions;
     _lat = 0;
     for (signed char i = 7; i >= 0; i--) {

--- a/YellowMotors.h	Fri Feb 05 15:49:11 2016 +0000
+++ b/YellowMotors.h	Fri Feb 05 16:28:29 2016 +0000
@@ -33,7 +33,7 @@
     public:
         PwmOut _pwmPin;
         float _pwmSigned; // signed with direction
-        int speed;
+        int speed;  // to be done
         MotorItself() : _pwmPin(NC) {};
         MotorItself(PinName pwmPin): _pwmPin(pwmPin) {};  // fuck you, you default constructor.
         /*
@@ -61,9 +61,9 @@
     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);
-    void attachled(DigitalOut & led);
+    void set(float value, int whichMotor = -1);  // set speed of a motor. float. second parameter is which motor. L is 0 , R is 1 , -1 is both (default)
+    float get(int whichMotor = -1); // get the value from the class, so you don't have to keep track of it by yourself
+    void attachled(DigitalOut & led); // pass an initalized DigitalOut object for a library to use it as debuging LED
     void dettachled() {
         delete _led;
     } ;