Oskar Weigl / Mbed 2 deprecated ICRSEurobot13

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Dependencies:   mbed-rtos mbed QEI

Fork of ICRSEurobot13 by Thomas Branch

Actuators/MainMotor/MainMotor.h

Committer:
twighk
Date:
2013-03-29
Revision:
0:200635fa1b08

File content as of revision 0:200635fa1b08:


// Eurobot13 MainMotor.h

#include "mbed.h"

class MainMotor{
    private:
    PwmOut PWM1;
    PwmOut PWM2;
    
    public:
    MainMotor(PinName pin1, PinName pin2) : PWM1(pin1), PWM2(pin2){
    }
    
    void operator()(float in){
        power(in);
    }
    
    void power(float power){
        if( power > 0 ){
            PWM1 = power;
            PWM2 = 0;
        } else {
            PWM1 = 0;
            PWM2 = -power;    
        }
    }

};