MotorController.cpp

00001 /*
00002  * MotorController.cpp
00003  *
00004  *  Created on: Aug 23, 2016
00005  *      Author: tanpt
00006  */
00007 
00008 #include "MotorController.h"
00009 
00010 DigitalOut MotorController::motorLeftDirection_(p25);
00011 PwmOut MotorController::motorLeftSpeed_(p23);
00012 DigitalOut MotorController::motorRightDirection_(p28);
00013 PwmOut MotorController::motorRightSpeed_(p24);
00014 
00015 DigitalOut MotorController::motorBoostSpeed_(p20);
00016 
00017 MotorController::MotorController() {
00018     motorRightDirection_ = DIRECTION_FORWARD;
00019     motorRightSpeed_.period_ms(1000);
00020     motorLeftDirection_ = DIRECTION_FORWARD;
00021     motorLeftSpeed_.period_ms(1000);
00022 }
00023 
00024 MotorController::~MotorController() {
00025 
00026 }
00027 
00028 int8_t MotorController::setMotorRight(Direction direction, uint16_t speed) {
00029     motorRightDirection_ = direction;
00030     motorRightSpeed_.pulsewidth_ms(speed);
00031     return 0;
00032 }
00033 
00034 int8_t MotorController::setMotorLeft(Direction direction, uint16_t speed) {
00035     motorLeftDirection_ = direction;
00036     motorLeftSpeed_.pulsewidth_ms(speed);
00037     return 0;
00038 }
00039 
00040 int8_t MotorController::moveForward(uint16_t speed) {
00041     motorRightDirection_ = DIRECTION_FORWARD;
00042     motorRightSpeed_.pulsewidth_ms(speed);
00043     motorLeftDirection_ = DIRECTION_FORWARD;
00044     motorLeftSpeed_.pulsewidth_ms(speed);
00045     return 0;
00046 }
00047 
00048 int8_t MotorController::moveBackward(uint16_t speed) {
00049     motorRightDirection_ = DIRECTION_BACKWARD;
00050     motorRightSpeed_.pulsewidth_ms(speed);
00051     motorLeftDirection_ = DIRECTION_BACKWARD;
00052     motorLeftSpeed_.pulsewidth_ms(speed);
00053     return 0;
00054 }
00055 
00056 int8_t MotorController::turnRight(uint16_t speed) {
00057     motorRightDirection_ = DIRECTION_BACKWARD;
00058     motorRightSpeed_.pulsewidth_ms(speed);
00059     motorLeftDirection_ = DIRECTION_FORWARD;
00060     motorLeftSpeed_.pulsewidth_ms(speed);
00061     return 0;
00062 }
00063 
00064 int8_t MotorController::turnLeft(uint16_t speed) {
00065     motorRightDirection_ = DIRECTION_FORWARD;
00066     motorRightSpeed_.pulsewidth_ms(speed);
00067     motorLeftDirection_ = DIRECTION_BACKWARD;
00068     motorLeftSpeed_.pulsewidth_ms(speed);
00069     return 0;
00070 }
00071 
00072 int8_t MotorController::moveBackRight(uint16_t speed) {
00073     motorRightDirection_ = DIRECTION_BACKWARD;
00074     motorRightSpeed_.pulsewidth_ms(speed);
00075     motorLeftDirection_ = DIRECTION_BACKWARD;
00076     motorLeftSpeed_.pulsewidth_ms(speed / 3);
00077     return 0;
00078 
00079 }
00080 
00081 int8_t MotorController::moveBackLeft(uint16_t speed) {
00082     motorRightDirection_ = DIRECTION_BACKWARD;
00083     motorRightSpeed_.pulsewidth_ms(speed / 3);
00084     motorLeftDirection_ = DIRECTION_BACKWARD;
00085     motorLeftSpeed_.pulsewidth_ms(speed);
00086     return 0;
00087 }
00088 
00089 int8_t MotorController::setBoost(BoostState state) {
00090     motorBoostSpeed_ = state;
00091 }
00092