Diff: HBridge.cpp

Revision:

5:e90c8b57811c

Parent:

4:5ae9f8b3a16f

--- a/HBridge.cpp	Tue Nov 24 03:56:22 2015 +0000
+++ b/HBridge.cpp	Mon Dec 24 03:47:49 2018 +0000
@@ -11,14 +11,34 @@
     if (output > 0) {
         min_1_pin_.write(0);
         min_2_pin_.write(1);
-        pwm_pin_.write(output);
+        pwm_pin_.write(0.5);
     } else if (output < 0) {
         min_1_pin_.write(1);
         min_2_pin_.write(0);
-        pwm_pin_.write(output * -1);
+        pwm_pin_.write(0.5);
     } else {
         min_1_pin_.write(0);
         min_2_pin_.write(0);
         pwm_pin_.write(0.0);
     }
-}
\ No newline at end of file
+}
+
+void HBridge::forward()
+{
+    min_1_pin_.write(1);
+    min_2_pin_.write(0);
+    pwm_pin_.write(0.5);   
+}
+void HBridge::back()
+{
+    min_1_pin_.write(0);
+    min_2_pin_.write(1);
+    pwm_pin_.write(0.5);   
+    
+}
+void HBridge::initialize()
+{
+    min_1_pin_.write(0);
+    min_2_pin_.write(0);
+    pwm_pin_.write(0);   
+}