Diff: md25.cpp

Revision:

1:8046f460a725

Parent:

0:e7f4a9247af2

--- a/md25.cpp	Thu May 19 12:42:06 2011 +0000
+++ b/md25.cpp	Fri May 20 21:18:59 2011 +0000
@@ -41,7 +41,7 @@
  * Public Methods
  */
 
-int32_t MD25::getEncoder1() {
+int32_t MD25::getEncoder1(void) {
     union {
         char buffer[4];
         int32_t data;
@@ -56,7 +56,7 @@
     return value.data;
 }
 
-int32_t MD25::getEncoder2() {
+int32_t MD25::getEncoder2(void) {
     union {
         uint8_t  buffer[4];
         int32_t  data;
@@ -71,11 +71,11 @@
     return value.data;
 }
 
-uint32_t MD25::getSoftwareVersion() {
+uint32_t MD25::getSoftwareVersion(void) {
     return readRegisterbyte(MD25_SOFTWAREVER_REG);
 }
 
-float MD25::getBatteryVolts() {
+float MD25::getBatteryVolts(void) {
     return (float)(readRegisterbyte(MD25_VOLTAGE_REG))/10.0;
 }
 
@@ -83,23 +83,23 @@
     return readRegisterbyte(MD25_ACCELRATE_REG);
 }
 
-uint8_t MD25::getMotor1Speed() {
+uint8_t MD25::getMotor1Speed(void) {
     return readRegisterbyte(MD25_SPEED1_REG);
 }
 
-uint8_t MD25::getMotor2Speed() {
+uint8_t MD25::getMotor2Speed(void) {
     return readRegisterbyte(MD25_SPEED2_REG);
 }
 
-uint8_t MD25::getMotor1Current() {
+uint8_t MD25::getMotor1Current(void) {
     return readRegisterbyte(MD25_CURRENT1_REG);
 }
 
-uint8_t MD25::getMotor2Current() {
+uint8_t MD25::getMotor2Current(void) {
     return readRegisterbyte(MD25_CURRENT2_REG);
 }
 
-uint8_t MD25::getMode() {
+uint8_t MD25::getMode(void) {
     return readRegisterbyte(MD25_MODE_REG);
 }
 
@@ -108,7 +108,7 @@
     writeRegisterbyte(MD25_SPEED2_REG, speed_2);
 }
 
-void MD25::stopMotor1() {
+void MD25::stopMotor1(void) {
     switch (current_mode) {
         case MODE_0 :
         case MODE_2 :
@@ -121,7 +121,7 @@
     }
 }
 
-void MD25::stopMotor2() {
+void MD25::stopMotor2(void) {
     switch (current_mode) {
         case MODE_0 :
         case MODE_2 :
@@ -134,13 +134,14 @@
     }
 }
 
-void MD25::stopMotors() {
+void MD25::stopMotors(void) {
     stopMotor1();
     stopMotor2();
 }
 
 void MD25::setMode(uint8_t mode) {
     writeRegisterbyte(MD25_MODE_REG, mode);
+    current_mode = mode;
 }
 
 void MD25::setAccelerationRate(uint8_t rate) {