Diff: MotorShield.h

Revision:

3:2f46953e7c8b

Parent:

1:4c3c2b7337a6

Child:

5:d2dffc88e94d

--- a/MotorShield.h	Wed Aug 26 00:24:51 2020 +0000
+++ b/MotorShield.h	Wed Aug 26 02:43:57 2020 +0000
@@ -1,33 +1,22 @@
 /* Library to interface with 2.74 Motor Shield
-** Uses a modified version of FastPWM library to improve PWM accuracy 
+** Uses low level HAL libraries to enable high speed PWM 
 */
 
-
-
 class MotorShield {
     
     public:
     
-    /** Receives two PinName variables.
-     * @param echoPin mbed pin to which the echo signal is connected to
-     * @param triggerPin mbed pin to which the trigger signal is connected to
-     */
-    MotorShield(PinName forwardPin, PinName reversePin);
-    
-    /** Calculates the distance in cm, with the calculation time of 25 ms.
-     * @returns distance of the measuring object in cm.
-     */
-    void write(double duty_cycle);
-    void period(double period);
-    void direction(int direction);
+    MotorShield(int periodTicks);
+    void motorAWrite(double duty_cycle, int direction);
+    void motorBWrite(double duty_cycle, int direction);
+    void motorCWrite(double duty_cycle, int direction);
+    void motorDWrite(double duty_cycle, int direction);
+    void changePeriod(int periodTicks); 
     
     private:
     
-    int direction_val;
-    double duty_cycle_val;
-    double period_val;
+    int periodTickVal;
+    void init();
     
-    void init();
-    void writePWM();
 };