Diff: src/motor.cpp

Revision:

5:71c2f193a7f9

Parent:

4:9edb248c6431

diff -r 9edb248c6431 -r 71c2f193a7f9 src/motor.cpp
--- a/src/motor.cpp	Mon May 31 16:47:02 2021 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,53 +0,0 @@
-/* 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;}
-