Revision 2:2dc873322032, committed 2010-11-19

Comitter:

littlexc

Date:

Fri Nov 19 12:32:06 2010 +0000

Parent:

1:3da7302dc9ae

Child:

3:8822f4955035

Commit message:

allows more control over the motordriver. returns duty on pmw line

Changed in this revision

--- a/motordriver.cpp	Thu Nov 11 15:32:55 2010 +0000
+++ b/motordriver.cpp	Fri Nov 19 12:32:06 2010 +0000
@@ -46,30 +46,36 @@
     sign = 0;//i.e nothing.
 }
 
-void Motor::speed(float speed) {
+float Motor::speed(float speed) {
+    float temp = 0;
     if (sign == 0) {
         _fwd = (speed > 0.0);
         _rev = (speed < 0.0);
-        _pwm = abs(speed);
+        temp = abs(speed);
+        _pwm = temp;
     } else if (sign == 1) {
         if (speed < 0) {
             _fwd = (speed > 0.0);
             _rev = (speed < 0.0);
             _pwm = 0;
+            temp = 0;
         } else {
             _fwd = (speed > 0.0);
             _rev = (speed < 0.0);
-            _pwm = abs(speed);
+            temp = abs(speed);
+            _pwm = temp;
         }
     } else if (sign == -1) {
         if (speed > 0) {
             _fwd = (speed > 0.0);
             _rev = (speed < 0.0);
             _pwm = 0;
+            temp = 0;
         } else {
             _fwd = (speed > 0.0);
             _rev = (speed < 0.0);
-            _pwm = abs(speed);
+            temp = abs(speed);
+            _pwm = temp;
         }
     }
     if (speed > 0)
@@ -79,7 +85,7 @@
     } else if (speed == 0) {
         sign = 0;
     }
-
+    return temp;
 }
 //  (additions)
 void Motor::coast(void) {
@@ -89,14 +95,15 @@
     sign = 0;
 }
 
-void Motor::stop(void) {
+float Motor::stop(float duty) {
     if (Brakeable == 1) {
         _fwd = 1;
         _rev = 1;
-        _pwm = 0.5;
+        _pwm = duty;
         sign = 0;
+        return duty;
     } else
-        return;
+        return 0;
 }
 
 /*

--- a/motordriver.h	Thu Nov 11 15:32:55 2010 +0000
+++ b/motordriver.h	Fri Nov 19 12:32:06 2010 +0000
@@ -42,35 +42,38 @@
 * @param pwm A PwmOut pin, driving the H-bridge enable line to control the speed
 * @param fwd A DigitalOut, set high when the motor should go forward
 * @param rev A DigitalOut, set high when the motor should go backwards
-* @param set if the motor driver is able to do braking 0 false 1 true. (addition)
+* @param set if the motor driver is able to do braking 0 false 1 true.
 */
         Motor(PinName pwm, PinName fwd, PinName rev, int brakeable);
   
-/** Set the speed of the motor (addition)
+/** Set the speed of the motor 
 * 
-* @param speed The speed of the motor as a normalised value between -1.0 and 1.0
+* @param speed The speed of the motor as a normalised value between -1.0 and 1.0.
+* @return the applied speed to the motor after checking to ensure motor doesn't switch from forward to reverse without stopping.
 */
-        void speed(float speed);
+        float speed(float speed);
         
 /** Set the the motor to coast
 * 
-* @param void motor coasts until another instruction is recived
+* @param void 
+* @return motor coasts until another instruction is recived.
 */        
   
         void coast(void);
 
-/** Set the motor to dynamicaly brake (addition)
+/** Set the motor to dynamicaly brake
 * 
-* @param void motor dynamicaly brakes until another instruction is recived
+* @param float 0 - 1.0 provides some control over how hard the motor brakes. 
+* @return duty applied to motor driver. -1 is error, motor driver can't brake.
 */
 
-        void stop(void);
+        float stop(float duty);
         
     protected:
         PwmOut _pwm;
         DigitalOut _fwd;
         DigitalOut _rev;
-        int Brakeable; // (addition)
+        int Brakeable; // cna the motor driver break
         int sign; //prevents throwing the motor from full foward to full reverse and stuff melting.
  
 };