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SunflowerMach1
Ovo je kopija vertije od Milana
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Diff: MotorDrivers/Motor.cpp
- Revision:
- 1:3500bf8487d0
- Child:
- 3:bebfc64cefe4
diff -r 7447b8021b33 -r 3500bf8487d0 MotorDrivers/Motor.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MotorDrivers/Motor.cpp Sat Nov 09 06:49:43 2013 +0000 @@ -0,0 +1,47 @@ +#include "Motor.h" + +Motor::Motor() : positiveOut(NC), negativeOut(NC) { +} + +Motor::Motor(PinName positivePin, PinName negativePin): + positiveOut(positivePin), negativeOut(negativePin) { +} + +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; + } + + direction = 0; + wait_ms(motorDriveTime); +} + +void Motor::stop() { + + positiveOut = 0; + negativeOut = 0; + direction = 0; +}