Baijun Desai / Mbed 2 deprecated MultiModalRobotSM

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Dependencies:   Motordriver mbed-rtos mbed

Fork of MultiModalRobotSM by Hemanth Koralla

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Show/hide line numbers MultiModalRobot.cpp Source File

MultiModalRobot.cpp

00001 #include "MultiModalRobot.h"
00002 
00003 MultiModalRobot::MultiModalRobot(Motor& left, Motor& right) : leftWheel(left), rightWheel(right), leftDir(0), rightDir(0) {}
00004 
00005 
00006 
00007 void MultiModalRobot::driveWheels(float leftSpeed, float rightSpeed){
00008     if(leftSpeed*leftDir<0 || rightSpeed*rightDir<0){
00009      stop(0.5);
00010     }
00011     if(leftSpeed<0){
00012         leftDir = -1;
00013     } else {
00014         leftDir = 1;
00015     }
00016     if(rightSpeed<0){
00017         rightDir = -1;
00018     } else {
00019         rightDir = 1;
00020     }
00021     leftWheel.speed(leftSpeed);
00022     rightWheel.speed(rightSpeed);
00023     wait(0.1);
00024     stop(0.5);
00025 }
00026 
00027 void MultiModalRobot::stop(float dutyCycle){
00028     leftDir = rightDir = 0;
00029     leftWheel.coast();
00030     rightWheel.coast();
00031 }
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