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Go to goal robot with follow wall algo
Motor/Motor.cpp
- Committer:
- khaledelmadawi
- Date:
- 2014-04-08
- Revision:
- 0:efef62b55c86
File content as of revision 0:efef62b55c86:
/* mbed simple H-bridge motor controller * Copyright (c) 2007-2010, sford * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal * in the Software without restriction, including without limitation the rights * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell * copies of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be included in * all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN * THE SOFTWARE. */ #include "Motor.h" Motor::Motor(PinName pwm, PinName fwd, PinName rev): _pwm(pwm), _fwd(fwd), _rev(rev) { // Set initial condition of PWM _pwm.period(0.001); _pwm = 0; // Initial condition of output enables _fwd = 0; _rev = 0; } void Motor::speed(float speed) { _fwd = (speed > 0.0); _rev = (speed < 0.0); _pwm = abs(speed); } void Motor::period(float period){ _pwm.period(period); } void Motor::brake(int highLow){ if(highLow == BRAKE_HIGH){ _fwd = 1; _rev = 1; } else if(highLow == BRAKE_LOW){ _fwd = 0; _rev = 0; } }