Diff: Motor.cpp

Revision:

1:2e7d4aa6e79e

Parent:

0:7447b8021b33

--- a/Motor.cpp	Fri Nov 08 19:09:47 2013 +0000
+++ b/Motor.cpp	Fri Nov 08 22:33:31 2013 +0000
@@ -1,7 +1,7 @@
 #include "Motor.h"
 
-Motor::Motor(PinName positivePin, PinName negativePin): positiveOut(positivePin), negativeOut(negativePin) {
-
+Motor::Motor(PinName positivePin, PinName negativePin, PinName enablePin): positiveOut(positivePin), negativeOut(negativePin), enableOut(enablePin) {
+enableOut.period(0.010);  // set PWM period to 10 ms
 }
 
 void Motor::movePositive() {
@@ -10,12 +10,22 @@
     move();
 }
 
+void Motor::moveNegativeSlow() {
+
+    direction = -1;
+    moveslow();
+}
+void Motor::movePositiveSlow() {
+
+    direction = 1;
+    moveslow();
+}
+
 void Motor::moveNegative() {
 
     direction = -1;
     move();
 }
-
 void Motor::move() {
 
     positiveOut = 0;
@@ -34,10 +44,45 @@
     
     wait_ms(motorDriveTime);
 }
+void Motor::moveslow() {
 
+    positiveOut = 0;
+    negativeOut = 0;
+        
+    switch(direction) {    
+    case 0:
+        return;
+    case 1:
+        positiveOut = 1;
+        break;
+    case -1:
+        negativeOut = 1;
+        break;
+    }
+    for (int i=0; i<1; i=i+0.1) { // slow running start 0.5 s
+        enableOut= i;
+        wait(0.05);
+    }
+    wait_ms(motorDriveTime);
+}
+void Motor::initpwm() {
+
+    enableOut.period(0.010);  // set PWM period to 10 ms
+    enableOut = 0.5;  // set initial duty cycle to 50%
+}
 void Motor::stop() {
 
     positiveOut = 0;
     negativeOut = 0;
     direction = 0;
 }
+void Motor::stopslow() {
+
+    for (int i=1; i>0; i=i-0.1) {
+        enableOut= i;
+        wait(0.05);
+    }
+    positiveOut = 0;
+    negativeOut = 0;
+    direction = 0;
+}