Diff: motor.cpp

Revision:

9:b1c5a0cf4a9b

Parent:

8:4fa7fadc583d

--- a/motor.cpp	Thu Jul 11 13:29:17 2019 +0000
+++ b/motor.cpp	Wed Jul 17 13:01:43 2019 +0000
@@ -1,9 +1,9 @@
 #include "motor.h"
 
-MotorCtl::MotorCtl(PinName Pwm, PinName Dir, PinName tachoA, PinName tachoB):
+MotorCtl::MotorCtl(PinName Pwm, BusOut &Dir, PinName tachoA, PinName tachoB):
     _pwm(Pwm), _Dir(Dir), _tachoA(tachoA), _tachoB(tachoB)
 {
-    _Dir=1;
+    _Dir=0;
     dr = 10;
     _pwm.period_ms(32);
     _pwm.write(0);
@@ -101,9 +101,9 @@
 void MotorCtl::setDirection()
 {
     if (dr>5) {
-        _Dir=1;
+        _Dir=2;
     } else {
-        _Dir=0;
+        _Dir=1;
     }
 }
 
@@ -146,7 +146,7 @@
     DeltaCnt = CurrentPosition - PreviousPosition;
     PreviousPosition = CurrentPosition;
     CurrentSpeed = (int)CalculateRPM(DeltaCnt);
-//    printf("DeltaCnt: %d  CurrentSpeed: %ld\r\n",DeltaCnt,CurrentSpeed);
+   printf("DeltaCnt: %d  CurrentSpeed: %ld\r\n",DeltaCnt,CurrentSpeed);
     Error = TargetSpeed - CurrentSpeed;
 
     integ += Error;
@@ -158,12 +158,12 @@
     if(TargetSpeed>0){
         vel =(TargetSpeed+control)/200.0;
          _pwm.write(vel);
-        _Dir=1;
+        _Dir=2;
 //    printf("control: %d\r\n",control);
     }else{
         vel =(-TargetSpeed-control)/200.0;
         _pwm.write(vel);
-        _Dir=0;
+        _Dir=1;
     } 
     //    printf("Duty: %d  Target:%d control:%d\r\n",duty,TargetSpeed, control);