Diff: Driver.cpp

Revision:

0:eafb70ae80f7

Child:

1:e417951c16d7

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Driver.cpp	Tue Jul 28 05:46:24 2020 +0000
@@ -0,0 +1,94 @@
+#include "mbed.h"
+#include "Driver.h"
+
+driver::driver(PinName M1A, PinName M1B, PinName M2A, PinName M2B):
+            M1A(M1A), M1B(M1B), M2A(M2A), M2B(M2B){
+    setPeriod_ms(1000);               
+}
+
+void driver::setPeriod_ms(int32_t period){
+    _period = period;
+    M1A.period_ms(_period);
+    M1B.period_ms(_period);
+    M2A.period_ms(_period);
+    M2B.period_ms(_period);
+}
+
+void driver::neutral(){
+    M1A.write(0);
+    M1B.write(0);
+    M2A.write(0);
+    M2B.write(0);
+}
+
+void driver::forward(float dutyCycle1, float dutyCycle2){
+    _dutyCycle1 = dutyCycle1;
+    _dutyCycle2 = dutyCycle2;
+    if(_dutyCycle1 > 1.0f)
+        _dutyCycle1 = 1.0f;
+    if(_dutyCycle2 > 1.0f)
+        _dutyCycle2 = 1.0f;
+    if(_dutyCycle1 < 0)
+        _dutyCycle1 = 0.0f;
+    if(_dutyCycle2 < 0)
+        _dutyCycle2 = 0.0f;
+        
+    M1A.write(_dutyCycle1);
+    M1B.write(0);
+    M2A.write(_dutyCycle2);
+    M2B.write(0);
+}
+
+void driver::backward(float dutyCycle1, float dutyCycle2){
+    _dutyCycle1 = dutyCycle1;
+    _dutyCycle2 = dutyCycle2;
+    if(_dutyCycle1 > 1.0f)
+        _dutyCycle1 = 1.0f;
+    if(_dutyCycle2 > 1.0f)
+        _dutyCycle2 = 1.0f;
+    if(_dutyCycle1 < 0)
+        _dutyCycle1 = 0.0f;
+    if(_dutyCycle2 < 0)
+        _dutyCycle2 = 0.0f;
+        
+    M1A.write(0);
+    M1B.write(_dutyCycle1);
+    M2A.write(0);
+    M2B.write(_dutyCycle2);   
+}
+
+void driver::right(float dutyCycle1, float dutyCycle2){
+    _dutyCycle1 = dutyCycle1;
+    _dutyCycle2 = dutyCycle2;
+    if(_dutyCycle1 > 1.0f)
+        _dutyCycle1 = 1.0f;
+    if(_dutyCycle2 > 1.0f)
+        _dutyCycle2 = 1.0f;
+    if(_dutyCycle1 < 0)
+        _dutyCycle1 = 0.0f;
+    if(_dutyCycle2 < 0)
+        _dutyCycle2 = 0.0f;
+        
+    M1A.write(0);
+    M1B.write(_dutyCycle1);
+    M2A.write(_dutyCycle2);
+    M2B.write(0);
+}
+
+void driver::left(float dutyCycle1, float dutyCycle2){
+    _dutyCycle1 = dutyCycle1;
+    _dutyCycle2 = dutyCycle2;
+    if(_dutyCycle1 > 1.0f)
+        _dutyCycle1 = 1.0f;
+    if(_dutyCycle2 > 1.0f)
+        _dutyCycle2 = 1.0f;
+    if(_dutyCycle1 < 0)
+        _dutyCycle1 = 0.0f;
+    if(_dutyCycle2 < 0)
+        _dutyCycle2 = 0.0f;
+        
+    M1A.write(_dutyCycle1);
+    M1B.write(0);
+    M2A.write(0);
+    M2B.write(_dutyCycle2);
+}
\ No newline at end of file