Minh Nguyen / MotorDriver

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MotorDriver.cpp@0:c58a5bbd417a, 2021-02-09 (annotated)

Committer:
khaiminhvn
Date:
Tue Feb 09 23:53:44 2021 +0000
Revision:
0:c58a5bbd417a
First draft

Who changed what in which revision?

UserRevisionLine numberNew contents of line
khaiminhvn 0:c58a5bbd417a 1 //INCLUDES
khaiminhvn 0:c58a5bbd417a 2 #include "MotorDriver.h"
khaiminhvn 0:c58a5bbd417a 3 #include "PinAssignment.h"
khaiminhvn 0:c58a5bbd417a 4
khaiminhvn 0:c58a5bbd417a 5 MotorDriver::MotorDriver() : ena(PIN_ENA),enb(PIN_ENB),intp(PIN_INTP),intn(PIN_INTN) {}
khaiminhvn 0:c58a5bbd417a 6
khaiminhvn 0:c58a5bbd417a 7 //moveForward
khaiminhvn 0:c58a5bbd417a 8 void MotorDriver::moveForward(int s)
khaiminhvn 0:c58a5bbd417a 9 {
khaiminhvn 0:c58a5bbd417a 10 switch(s)
khaiminhvn 0:c58a5bbd417a 11 {
khaiminhvn 0:c58a5bbd417a 12 case M1:
khaiminhvn 0:c58a5bbd417a 13 ena = 1;
khaiminhvn 0:c58a5bbd417a 14 enb = 0;
khaiminhvn 0:c58a5bbd417a 15 break;
khaiminhvn 0:c58a5bbd417a 16 case M2:
khaiminhvn 0:c58a5bbd417a 17 ena = 0;
khaiminhvn 0:c58a5bbd417a 18 enb = 1;
khaiminhvn 0:c58a5bbd417a 19 break;
khaiminhvn 0:c58a5bbd417a 20 case M_ALL:
khaiminhvn 0:c58a5bbd417a 21 ena = 1;
khaiminhvn 0:c58a5bbd417a 22 enb = 1;
khaiminhvn 0:c58a5bbd417a 23 break;
khaiminhvn 0:c58a5bbd417a 24 }
khaiminhvn 0:c58a5bbd417a 25 intp = 1;
khaiminhvn 0:c58a5bbd417a 26 intn = 0;
khaiminhvn 0:c58a5bbd417a 27 }
khaiminhvn 0:c58a5bbd417a 28
khaiminhvn 0:c58a5bbd417a 29 //moveBackward
khaiminhvn 0:c58a5bbd417a 30 void MotorDriver::moveBackward(int s)
khaiminhvn 0:c58a5bbd417a 31 {
khaiminhvn 0:c58a5bbd417a 32 switch(s)
khaiminhvn 0:c58a5bbd417a 33 {
khaiminhvn 0:c58a5bbd417a 34 case M1:
khaiminhvn 0:c58a5bbd417a 35 ena = 1;
khaiminhvn 0:c58a5bbd417a 36 enb = 0;
khaiminhvn 0:c58a5bbd417a 37 break;
khaiminhvn 0:c58a5bbd417a 38 case M2:
khaiminhvn 0:c58a5bbd417a 39 ena = 0;
khaiminhvn 0:c58a5bbd417a 40 enb = 1;
khaiminhvn 0:c58a5bbd417a 41 break;
khaiminhvn 0:c58a5bbd417a 42 case M_ALL:
khaiminhvn 0:c58a5bbd417a 43 ena = 1;
khaiminhvn 0:c58a5bbd417a 44 enb = 1;
khaiminhvn 0:c58a5bbd417a 45 break;
khaiminhvn 0:c58a5bbd417a 46 }
khaiminhvn 0:c58a5bbd417a 47 intp = 0;
khaiminhvn 0:c58a5bbd417a 48 intn = 1;
khaiminhvn 0:c58a5bbd417a 49 }
khaiminhvn 0:c58a5bbd417a 50
khaiminhvn 0:c58a5bbd417a 51 //stop
khaiminhvn 0:c58a5bbd417a 52 void MotorDriver::stop()
khaiminhvn 0:c58a5bbd417a 53 {
khaiminhvn 0:c58a5bbd417a 54 ena = 0;
khaiminhvn 0:c58a5bbd417a 55 enb = 0;
khaiminhvn 0:c58a5bbd417a 56 intp = 0;
khaiminhvn 0:c58a5bbd417a 57 intn = 0;
khaiminhvn 0:c58a5bbd417a 58 }