Motor.cpp

00001 #include "Motor.h"
00002 #include "mbed.h"
00003 
00004 
00005 Motor::Motor(PinName pwm, PinName dir1, PinName dir2): _pwm(pwm), _dir1(dir1), _dir2(dir2)
00006 {
00007     _direction=1;           //default fwd
00008     _pwm.period(0.00005);   //20Khz
00009     _pwm = 0;               //default pwm off
00010     _dir1 = 0;
00011     _dir2 = 0;
00012 
00013 }
00014 
00015 float Motor::speed(float speed, bool direction)
00016 {
00017     if(direction == true) {
00018         _dir1=1;
00019         _dir2=0;
00020     } else {
00021         _dir1=0;
00022         _dir2=1;
00023     }
00024     if(speed > 1) {
00025         speed = 1;
00026     }
00027     if(speed < -1) {
00028         speed = -1;
00029     }
00030 
00031     _pwm = abs(speed);
00032     return speed;
00033 }
00034 
00035 float Motor::speed(float speed)
00036 {
00037     if(speed > 1) {
00038         speed = 1;
00039     }
00040     if(speed < -1) {
00041         speed = -1;
00042     }
00043     if(speed < 0) {
00044         _dir1=1;
00045         _dir2=0;
00046     } else {
00047         _dir1=0;
00048         _dir2=1;
00049     }
00050     _pwm = abs(speed);
00051     return speed;
00052 }
00053 
00054 Motor& Motor::operator= (float speed)
00055 {
00056     if(speed > 1) {
00057         speed = 1;
00058     }
00059     if(speed < -1) {
00060         speed = -1;
00061     }
00062     if(speed < 0) {
00063         _dir1=1;
00064         _dir2=0;
00065     } else {
00066         _dir1=0;
00067         _dir2=1;
00068     }
00069     _pwm = abs(speed);
00070     return *this;
00071 }