Diff: MotorDrivers/Motor.cpp

Revision:

4:03b68322905f

Parent:

3:bebfc64cefe4

Child:

6:902bec57d9ae

--- a/MotorDrivers/Motor.cpp	Sat Nov 09 13:44:18 2013 +0000
+++ b/MotorDrivers/Motor.cpp	Sat Nov 09 18:35:13 2013 +0000
@@ -8,51 +8,22 @@
     
     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;
-    }
+void Motor::start() {
     
     for (float i = 1; i > 0; i -= motorPwmChangeSpeed) {
         pwmOut = i;
         wait(motorPwmWaitTime);
     }        
     pwmOut = 0;
-    _isMoving = true;
-    
-//    wait_ms(motorDriveTime);
-//    stop();
 }
 
 void Motor::stop() {
 
+    if(direction == 0)
+        return;
+
     for (float i = 0; i < 1; i += motorPwmChangeSpeed) {
         pwmOut = i;
         wait(motorPwmWaitTime);
@@ -62,10 +33,35 @@
     positiveOut = 0;
     negativeOut = 0;
     direction = 0;
-    _isMoving = false;
+}
+
+void Motor::movePositive() {
+
+    if(direction == 1)
+        return;
+
+    if(direction == -1)
+        stop();
+        
+    positiveOut = 1;
+    direction = 1;
+    start();
+}
+
+void Motor::moveNegative() {
+
+    if(direction == -1)
+        return;
+
+    if(direction == 1)
+        stop();
+        
+    negativeOut = 1;
+    direction = -1;
+    start();
 }
 
 bool Motor::isMoving() {
 
-    return _isMoving;
+    return direction == 0;
 }