Diff: Microduino_Motor.cpp

Revision:

1:758ccab13947

Child:

2:70ca3e685cca

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Microduino_Motor.cpp	Wed May 25 11:52:03 2016 +0000
@@ -0,0 +1,79 @@
+#include "Microduino_Motor.h"
+
+static motor_t motors[10];                          // static array of key structures
+
+uint8_t MotorCount = 0;                                     // the total number of attached keys
+
+Motor::Motor(uint8_t _motor_pinA, uint8_t _motor_pinB)
+{
+    if ( MotorCount < 10) {
+        this->motorIndex = MotorCount++;                    // assign a key index to this instance
+        if (_motor_pinA < NUM_DIGITAL_PINS && _motor_pinB < NUM_DIGITAL_PINS) {
+            pinMode( _motor_pinA, OUTPUT) ;
+            motors[this->motorIndex].Pin.nbr_A = _motor_pinA;
+
+            pinMode( _motor_pinB, OUTPUT) ;
+            motors[this->motorIndex].Pin.nbr_B = _motor_pinB;
+
+            this->fix=1;
+        }
+    } else
+        this->motorIndex = 255 ;  // too many keys
+}
+
+void Motor::Fix(float _fix)
+{
+    this->fix=_fix;
+}
+
+int16_t Motor::GetData(int16_t _throttle, int16_t _steering, bool _dir)
+{
+    this->_motor_vol = _throttle;
+
+    if(_dir)
+        this->_motor_vol -= _steering / 2;
+    else
+        this->_motor_vol += _steering / 2;
+
+    if (this->_motor_vol > 255)
+        this->_motor_vol = 255;
+    else if (this->_motor_vol < -255)
+        this->_motor_vol = -255;
+
+    this->_motor_vol *= fix;
+
+    return this->_motor_vol;
+}
+
+
+void Motor::Driver(int16_t _motor_driver)
+{
+    int8_t channel_A = motors[this->motorIndex].Pin.nbr_A;
+    int8_t channel_B = motors[this->motorIndex].Pin.nbr_B;
+    if (_motor_driver == 0)   {
+        digitalWrite(channel_A, LOW);
+        digitalWrite(channel_B, LOW);
+    } else if (_motor_driver > 0)   {
+        analogWrite(channel_A, _motor_driver);
+        digitalWrite(channel_B, LOW);
+    } else  {
+        analogWrite(channel_A, 255 + _motor_driver);
+        digitalWrite(channel_B, HIGH);
+    }
+}
+
+void Motor::Free()
+{
+    int8_t channel_A = motors[this->motorIndex].Pin.nbr_A;
+    int8_t channel_B = motors[this->motorIndex].Pin.nbr_B;
+    digitalWrite(channel_A, LOW);
+    digitalWrite(channel_B, LOW);
+}
+
+void Motor::Brake()
+{
+    int8_t channel_A = motors[this->motorIndex].Pin.nbr_A;
+    int8_t channel_B = motors[this->motorIndex].Pin.nbr_B;
+    digitalWrite(channel_A, HIGH);
+    digitalWrite(channel_B, HIGH);
+}
\ No newline at end of file