Diff: Motorslam.cpp

Revision:

0:550e01736339

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Motorslam.cpp	Wed May 04 18:47:50 2016 +0000
@@ -0,0 +1,146 @@
+//libraries//
+#include "mbed.h"
+#include "Motorslam.h"
+
+#define SIG_HIGH    (1)
+#define SIG_LOW     (0)
+
+Motorslam::Motorslam(PinName pinPwmLeft, PinName pinLeftIn1, PinName pinLeftIn2,
+                     PinName pinPwmRight, PinName pinRightIn1, PinName pinRightIn2,
+                     PinName pinNStby):
+                   
+        pwmLeft(pinPwmLeft),
+        leftIn1(pinLeftIn1),
+        leftIn2(pinLeftIn2),
+        pwmRight(pinPwmRight),
+        rightIn1(pinRightIn1),
+        rightIn2(pinRightIn2),  
+        nStby(pinNStby)
+        {
+         leftIn1 = SIG_LOW;
+         leftIn2 = SIG_LOW;
+         rightIn1 = SIG_LOW;
+         rightIn2 = SIG_LOW;
+         nStby = SIG_LOW;
+         pwmLeft.period(DEFAULT_PWM_PERIOD);
+         pwmLeft = DEFAULT_PWM_PULSEWIDTH;
+         pwmRight.period(DEFAULT_PWM_PERIOD);
+         pwmLeft = DEFAULT_PWM_PULSEWIDTH;  
+            }
+        
+        void Motorslam::init()
+            {
+         leftIn1 = SIG_LOW;
+         leftIn2 = SIG_LOW;
+         rightIn1 = SIG_LOW;
+         rightIn2 = SIG_LOW;
+         nStby = SIG_LOW;
+         pwmLeft.period(DEFAULT_PWM_PERIOD);
+         pwmLeft = DEFAULT_PWM_PULSEWIDTH;
+         pwmRight.period(DEFAULT_PWM_PERIOD);
+         pwmLeft = DEFAULT_PWM_PULSEWIDTH; 
+                }
+            
+        void Motorslam::setPwmLeft(float fPeriod, float fPulsewidth)
+        {
+            pwmLeft.period(fPeriod);
+            pwmLeft = fPulsewidth;
+            }
+            
+        void Motorslam::setPwmLeftperiod(float fPeriod)
+        {
+            pwmLeft.period(fPeriod);
+            }
+            
+        void Motorslam::setPwmLeftpulsewidth(float fPulsewidth)
+        {
+            pwmLeft = fPulsewidth;
+            }
+         
+        void Motorslam::setPwmRight(float fPeriod, float fPulsewidth)
+        {
+            pwmRight.period(fPeriod);
+            pwmRight = fPulsewidth;
+            }
+            
+        void Motorslam::setPwmRightperiod(float fPeriod)
+        {
+            pwmRight.period(fPeriod);
+            }
+            
+        void Motorslam::setPwmRightpulsewidth(float fPulsewidth)
+        {
+            pwmRight = fPulsewidth;
+            }
+         
+        void Motorslam::standby(void)
+        {
+            nStby = SIG_LOW;
+            }
+         
+        void Motorslam::motorLeft_stop(void)
+        {
+            leftIn1 = SIG_LOW;
+            leftIn2 = SIG_LOW;
+            }
+            
+        void Motorslam::motorLeft_cw(void)
+        {
+            leftIn1 = SIG_HIGH;
+            leftIn2 = SIG_LOW;
+            nStby = SIG_HIGH;
+            }
+        void Motorslam::motorLeft_ccw(void)
+        {
+            leftIn1 = SIG_LOW;
+            leftIn2 = SIG_HIGH;
+            nStby = SIG_HIGH;
+            }
+         
+        void Motorslam::motorRight_stop(void)
+        {
+            rightIn1 = SIG_LOW;
+            rightIn2 = SIG_LOW;
+            }
+        void Motorslam::motorRight_cw(void)
+        {
+            rightIn1 = SIG_HIGH;
+            rightIn2 = SIG_LOW;
+            nStby = SIG_HIGH;
+            }
+        void Motorslam::motorRight_ccw(void)
+        {
+            rightIn1 = SIG_LOW;
+            rightIn2 = SIG_HIGH;
+            nStby = SIG_HIGH;
+            }
+     
+        void Motorslam::moveStop(void)
+        {
+           Motorslam::standby(); 
+            }
+        void Motorslam::moveForward(void)
+        {
+            Motorslam::motorLeft_cw();
+            Motorslam::motorRight_cw();
+            }
+        void Motorslam::moveBackward(void)
+        {
+            Motorslam::motorLeft_ccw();
+            Motorslam::motorRight_ccw();
+            }
+        void Motorslam::moveLeft(void)
+        {
+            Motorslam::motorLeft_ccw();
+            Motorslam::motorRight_cw();
+            wait(0.5);//trial; (0.5) for low friction(wooden floor); (0.7) for high friction
+            Motorslam::moveStop();//trial
+            }
+        void Motorslam::moveRight(void)
+        {
+            Motorslam::motorLeft_cw();
+            Motorslam::motorRight_ccw();
+            wait(0.5);//trial; (0.5) for low friction(wooden floor); (0.7) for high friction
+            Motorslam::moveStop();//trial
+            }
+            
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