Diff: Hardware/Motor.cpp

Revision:

0:56b8c86181b1

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Hardware/Motor.cpp	Tue May 21 14:12:13 2013 +0000
@@ -0,0 +1,69 @@
+#include "Motor.h"
+
+Motor::Motor(PinName pwm, float _period/*, float* linCoef, float lowerSat, float upperSat*/) : PwmOut(pwm)
+{    
+    //period(_period);
+    period_us(_period);
+    
+    currentPower = 0;
+    
+    //setPower(currentPower);
+    
+    //this->linCoef = linCoef;
+    
+    //this->lowerSat = lowerSat;
+    //this->upperSat = upperSat;
+}
+
+/*Motor::Motor(PinName pwm, float periodms) : PwmOut(pwm)
+{
+    //Motor(pwm, (periodms*1000), new float[1], 0, 100);
+    period_ms(periodms);
+    
+    //currentPower = 0;
+    
+    //this->linCoef = new float[1];
+    
+    //this->lowerSat = 0;
+    //this->upperSat = 100;
+}*/
+
+void Motor::setPower(float power)
+{
+    power = clampFloat(power, 0.0, 100.0);
+    
+    //pulsewidth(PWM_MIN + (power / 100.0) * PWM_DT);
+    write( (100-(PWM_MIN + power))/100);
+    currentPower = power;
+}
+
+void Motor::setPowerLin(float power)
+{
+    setPower(power);
+    /*
+    float pwm = 0;
+    
+    power = clampFloat(power, 0.0, 100.0);
+    
+    for (int i = 0; i < 5; i++)
+    {
+        pwm += linCoef[4-i] * pow(power/100.0, i);
+    }
+    
+    setPower(lowerSat + pwm*(upperSat - lowerSat));
+    */
+}
+void Motor::arm(int pwm_ms)
+{
+    pulsewidth_ms(pwm_ms);
+    //write( (power)/100 );
+}
+void Motor::accumulatePower(float accPower)
+{
+    setPower(currentPower + accPower);
+}
+
+float Motor::getPower()
+{
+    return currentPower;
+}