Diff: src/motor.cpp

Revision:

0:441289ea4e29

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/motor.cpp	Thu May 27 18:36:23 2021 +0000
@@ -0,0 +1,53 @@
+/* Karbot motor class
+ * Written by Simon Krogedal
+ * 27/05/21
+ * Team 9 4th Year project
+ * 
+ * for NUCLEO-F401RE
+ * 
+ */
+ 
+ 
+ #include "mbed.h"
+ #include "motor.h"
+ 
+motor::motor(PinName pwm_pin, PinName dir_pin, double period) : output(pwm_pin), dir(dir_pin), T(period) {
+    output.period(T);                   //this period is not going to change during the run
+    dir = 1;                            //forward is active high
+    dutCyc = 0.1;                       //just need a default value to avoid bugs
+    stop();                             //starts off
+}
+
+void motor::drive(void) {
+    driving = 1;
+    output.write(dutCyc);
+}
+
+void motor::stop(void) {
+    driving = 0;
+    output.write(0.0);                              //just constant low
+}
+
+void motor::setOut(double dc) {                            //set duty cycle as a number between -1 and 1, where 1 is full force forward, -1 is backwards and 0 is still
+    if(dc < 0.0) {
+        dir = 0;
+        if(dc < -1.0)
+            dutCyc = 1.0;
+        else
+            dutCyc = -dc;
+    }
+    else {
+        dir = 1;
+        if(dc > 1.0)
+            dutCyc = 1.0;
+        else
+            dutCyc = dc;
+    }
+    if(driving)
+        output.write(dutCyc);
+}
+
+double motor::getPeriod(void) {return T;}
+
+double motor::getDuty(void) {return dutCyc;}
+