File content as of revision 3:bebfc64cefe4:

#include "Motor.h"

Motor::Motor(PinName positivePin, PinName negativePin, PinName pwmPin): 
        positiveOut(positivePin), negativeOut(negativePin), pwmOut(pwmPin) {
        
    pwmOut.period(motorPwmPeriod);
    pwmOut = motorPwmInitDutyCycle;
    
    positiveOut = 0;
    negativeOut = 0;   
    
    _isMoving = false;
}

void Motor::movePositive() {

    direction = 1;
    move();
}

void Motor::moveNegative() {

    direction = -1;
    move();
}

void Motor::move() {

    positiveOut = 0;
    negativeOut = 0;
        
    switch(direction) {    
    case 0:
        return;
    case 1:
        positiveOut = 1;
        break;
    case -1:
        negativeOut = 1;
        break;
    }
    
    for (float i = 1; i > 0; i -= motorPwmChangeSpeed) {
        pwmOut = i;
        wait(motorPwmWaitTime);
    }        
    pwmOut = 0;
    _isMoving = true;
    
//    wait_ms(motorDriveTime);
//    stop();
}

void Motor::stop() {

    for (float i = 0; i < 1; i += motorPwmChangeSpeed) {
        pwmOut = i;
        wait(motorPwmWaitTime);
    }
    pwmOut = 1;

    positiveOut = 0;
    negativeOut = 0;
    direction = 0;
    _isMoving = false;
}

bool Motor::isMoving() {

    return _isMoving;
}