Diff: Motor.cpp

Revision:

5:3b639d84a95d

Parent:

4:56a1159c881c

--- a/Motor.cpp	Fri Oct 30 12:47:35 2015 +0000
+++ b/Motor.cpp	Sun Aug 07 12:45:33 2016 +0000
@@ -3,7 +3,7 @@
  */
 #include "Motor.h"
 Motor::Motor(const Motor& m):
-    motor(m.Pin[0],m.Pin[1],m.Pin[2],m.Pin[3]),PwmPin(m.Pin[4])
+    mode(m.Pin[0],m.Pin[1]),PwmPin(m.Pin[2])
 {
     bias=0.0;
     max=m.max;
@@ -12,14 +12,12 @@
     run(Stop,1);
 }
 
-Motor::Motor(PinName _pin_h1, PinName _pin_g2, PinName _pin_g1, PinName _pin_h2,PinName _pwm) :
-    motor(_pin_h1,_pin_g2,_pin_g1,_pin_h2),PwmPin(_pwm)
+Motor::Motor(PinName _pin1, PinName _pin2,PinName _pwm) :
+    mode(_pin1,_pin2),PwmPin(_pwm)
 {
-     Pin[0] = _pin_h1;
-    Pin[1] = _pin_g2;
-    Pin[2] = _pin_g1;
-    Pin[3] = _pin_h2;
-    Pin[4] = _pwm;
+    Pin[0] = _pin1;
+    Pin[1] = _pin2;
+    Pin[2] = _pwm;
     max=1.0;
     //this
     PwmPin.period_ms(10);
@@ -33,17 +31,13 @@
     //if(state==i)return;
     PwmPin = Duty;
     if(state==i)return;
-    motor=0;
-    //wait_us(20);
-    /*t.start();
-    t.reset();
-    while(t.read_us()>=20);*/
-    wait_us(200);
-    if(i==Front) motor=0x01|0x04;
-    else if(i==Back) motor=0x02|0x08;
-    else if(i==Stop) motor=0x01|0x08;
-    else if(i==Free) motor=0x00|0x00;
-    else motor=0;
+    mode=0;
+    wait_us(20);
+    if(i==Free) mode=0x00;
+    else if(i==Back) mode=0x01|0x00;
+    else if(i==Front) mode=0x00|0x02;
+    else if(i==Stop) mode=0x01|0x02;
+    else mode=0x00;
     state=i;
 }