Justyna Guzik / Mbed 2 deprecated CZOSNEK_BY_COKIDS

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Dependencies:   czosnekengine_17_06 Servo_fullrange mbed

Fork of CZOSN_ostateczny_29_06 by Klaudia Różycka

Engine.cpp

Committer:
yruiewyrui3
Date:
2016-06-14
Revision:
0:2e73d45d090e

File content as of revision 0:2e73d45d090e:

#include "Engine.h"

// przelicza procenty na pwn:
// - wartosc poczatkowa - 0.2377,
// - prog - 0.0077
float Engine::getPwm(float speed){
    if (speed == 0)
        return 0;
    else if (speed > 0)
        return 0.2377f + (fabs(speed) - 1) * 0.0077f;
    else
        return 0.406f + (fabs(speed) - 1) * 0.006f;
    }

void Engine::move(int speed){
    if (speed > 100)
        speed =100;
    else if (speed < -100)
        speed = -100;
    
    if (speed == 0){
        //soft stop
        _fwd = 0;
        _rev = 0;
        return;
        }
            
    if (speed < 0){
        _fwd = 0;
        _rev = 1;
        }
        
    else{
        _fwd = 1;
        _rev = 0;
        }
    
    _pwm = getPwm(speed);
}

//hard stop
void Engine::stop(){
    _pwm = 0;
}