Diff: motors.h

Revision:

0:0bbf2f16da9c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/motors.h	Fri Nov 18 18:23:33 2011 +0000
@@ -0,0 +1,52 @@
+
+void initmotor() {
+    PWMleft.period_ms(20);
+    PWMleft = NOPOWER;
+    PWMright.period_ms(20);
+    PWMright = NOPOWER;
+
+    PWMfront.period_ms(20);
+    PWMfront = NOPOWER;
+    PWMrear.period_ms(20);
+    PWMrear = NOPOWER;
+}
+
+void leftM(float thrust) {
+    float output = (542 + 0.462 * thrust) / 10000;
+    if (output > 0.0950) {
+        PWMleft = 0.0950;
+        motormaxled = 1;
+    } else {
+        PWMleft = output;
+    }
+}
+
+void rightM(float thrust) {
+    float output = (542 + 0.462 * thrust) / 10000;
+    if (output > 0.0950) {
+        PWMright = 0.0950;
+        motormaxled = 1;
+    } else {
+        PWMright = output;
+    }
+}
+
+void frontM(float thrust) {
+    float output = (542 + 0.462 * thrust) / 10000;
+    if (output > 0.950) {
+        PWMfront = 0.0950;
+        motormaxled = 1;
+    } else {
+        PWMfront = output;
+    }
+}
+
+void rearM(float thrust) {
+    float output = (542 + 0.462 * thrust) / 10000;
+    if (output > 0.0950) {
+        PWMrear = 0.0950;
+        motormaxled = 1;
+    } else {
+        PWMrear = output;
+    }
+}