Mark Vandermeulen
Code for our FYDP -only one IMU works right now -RTOS is working
Diff: motors/motors.cpp
- Revision:
- 0:964eb6a2ef00
diff -r 000000000000 -r 964eb6a2ef00 motors/motors.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/motors/motors.cpp Wed Mar 18 22:23:48 2015 +0000
@@ -0,0 +1,27 @@
+#include "motors.h"
+
+Motors::Motors(TB6612 * L, TB6612 * R, PinName STBY):
+ Left(L), Right(R), enable(STBY)
+{
+ enable = 1;
+}
+
+void Motors::flip()
+{
+ TB6612 * temp = Left;
+ Left = Right;
+ Right = temp;
+
+ Left->scale *= -1;
+ Right->scale *= -1;
+}
+void Motors::reverse(bool m)
+{
+ if(m)
+ Right->scale *= -1; //reverse right motor
+ else
+ Left->scale *= -1; //reverse left motor
+}
+
+//TODO: write in a function that automatically sets the motors to be oriented properly. Use the
+//gyroscopes and accelerometer to do this.
\ No newline at end of file