Diff: moter.cpp

Revision:

1:c39c41e7caa7

Parent:

0:43e23ac22a60

Child:

2:7c276b322cab

--- a/moter.cpp	Wed Mar 14 02:53:13 2018 +0000
+++ b/moter.cpp	Wed Mar 21 06:51:35 2018 +0000
@@ -1,57 +1,64 @@
 #include "mbed.h"
 #include "moter.h"
 
-void Straight(float RPower, float LPower, PwmOut *m_pins, DigitalOut *d_pins){
+void Straight(float RPower, float LPower, PwmOut *m_pins, DigitalOut *d_pins1 ,DigitalOut *d_pins2){
     m_pins[0] = RPower;
     m_pins[1] = RPower;
     m_pins[2] = LPower;
     m_pins[3] = LPower;
-    d_pins[0] = 1.0;
-    d_pins[1] = 1.0;
-    d_pins[2] = 1.0;
-    d_pins[3] = 1.0;
+    for(int i=0;i<4;i++){
+        dpins1[i] = 1.0;
+        dpins2[i] = 0.0;
+    }
 }
 
-void Back(float RPower, float LPower, PwmOut *m_pins, DigitalOut *d_pins){
+void Back(float RPower, float LPower, PwmOut *m_pins, DigitalOut *d_pins ,DigitalOut *d_pins2){
     m_pins[0] = LPower;
     m_pins[1] = LPower;
     m_pins[2] = RPower;
     m_pins[3] = RPower;
-    d_pins[0] = 0.0;
-    d_pins[1] = 0.0;
-    d_pins[2] = 0.0;
-    d_pins[3] = 0.0;
+    for(int i=0;i<4;i++){
+        d_pins1[i] = 0.0;
+        d_pins2[i] = 1.0;
+    }
 }
 
-void Right(float RPower, float LPower, PwmOut *m_pins, DigitalOut *d_pins){
+void Right(float RPower, float LPower, PwmOut *m_pins, DigitalOut *d_pins ,DigitalOut *d_pins2){
     m_pins[0] = LPower;
     m_pins[1] = RPower;
     m_pins[2] = LPower;
     m_pins[3] = RPower;
-    d_pins[0] = 0.0;
-    d_pins[1] = 1.0;
-    d_pins[2] = 1.0;
-    d_pins[3] = 0.0;
+    d_pins1[0] = 0.0;
+    d_pins1[1] = 1.0;
+    d_pins1[2] = 1.0;
+    d_pins1[3] = 0.0;
+    d_pins2[0] = 1.0;
+    d_pins2[1] = 0.0;
+    d_pins2[2] = 0.0;
+    d_pins2[3] = 1.0;
+
 }
 
-void Left(float RPower, float LPower, PwmOut *m_pins, DigitalOut *d_pins){
+void Left(float RPower, float LPower, PwmOut *m_pins, DigitalOut *d_pins ,DigitalOut *d_pins2){
     m_pins[0] = RPower;
     m_pins[1] = LPower;
     m_pins[2] = RPower;
     m_pins[3] = LPower;
-    d_pins[0] = 1.0;
-    d_pins[1] = 0.0;
-    d_pins[2] = 0.0;
-    d_pins[3] = 1.0;
+    d_pins1[0] = 1.0;
+    d_pins1[1] = 0.0;
+    d_pins1[2] = 0.0;
+    d_pins1[3] = 1.0;
+    d_pins2[0] = 0.0;
+    d_pins2[1] = 1.0;
+    d_pins2[2] = 1.0;
+    d_pins2[3] = 0.0;
+
 }
 
-void Stop(PwmOut *m_pins, DigitalOut *d_pins){
-    m_pins[0] = 0.0;
-    m_pins[1] = 0.0;
-    m_pins[2] = 0.0;
-    m_pins[3] = 0.0;
-    d_pins[0] = 0.0;
-    d_pins[1] = 0.0;
-    d_pins[2] = 0.0;
-    d_pins[3] = 0.0;
+void Stop(PwmOut *m_pins, DigitalOut *d_pins, DigitalOut *d_pins2){
+    for(int i=0;i<4;i++){
+        m_pins[i] = 0.0;
+        d_pins1[i] = 1.0;
+        d_pins2[i] = 1.0;
+    }        
 }
\ No newline at end of file