Minh Nguyen
/
MotorDriver
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Diff: MotorDriver.cpp
- Revision:
- 0:c58a5bbd417a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/MotorDriver.cpp Tue Feb 09 23:53:44 2021 +0000
@@ -0,0 +1,58 @@
+//INCLUDES
+#include "MotorDriver.h"
+#include "PinAssignment.h"
+
+MotorDriver::MotorDriver() : ena(PIN_ENA),enb(PIN_ENB),intp(PIN_INTP),intn(PIN_INTN) {}
+
+//moveForward
+void MotorDriver::moveForward(int s)
+{
+ switch(s)
+ {
+ case M1:
+ ena = 1;
+ enb = 0;
+ break;
+ case M2:
+ ena = 0;
+ enb = 1;
+ break;
+ case M_ALL:
+ ena = 1;
+ enb = 1;
+ break;
+ }
+ intp = 1;
+ intn = 0;
+}
+
+//moveBackward
+void MotorDriver::moveBackward(int s)
+{
+ switch(s)
+ {
+ case M1:
+ ena = 1;
+ enb = 0;
+ break;
+ case M2:
+ ena = 0;
+ enb = 1;
+ break;
+ case M_ALL:
+ ena = 1;
+ enb = 1;
+ break;
+ }
+ intp = 0;
+ intn = 1;
+}
+
+//stop
+void MotorDriver::stop()
+{
+ ena = 0;
+ enb = 0;
+ intp = 0;
+ intn = 0;
+}
\ No newline at end of file