Motor.cpp

00001 #include "Motor.h"
00002 
00003 Motor::Motor(PinName positivePin, PinName negativePin, PinName pwmPin): 
00004         positiveOut(positivePin), negativeOut(negativePin), pwmOut(pwmPin) {
00005         
00006     pwmOut.period(motorPwmPeriod);
00007     pwmOut = motorPwmInitDutyCycle;
00008     
00009     positiveOut = 0;
00010     negativeOut = 0;  
00011     direction = 0; 
00012     pwmOut = 1;
00013 }
00014 
00015 void Motor::start() {
00016     
00017     for (float i = 1; i > 0; i -= motorPwmChangeSpeed) {
00018         pwmOut = i;
00019         wait(motorPwmWaitTime);
00020     }        
00021     pwmOut = 0;
00022 }
00023 
00024 void Motor::stop() {
00025 
00026     if(direction == 0)
00027         return;
00028 
00029     for (float i = 0; i < 1; i += motorPwmChangeSpeed) {
00030         pwmOut = i;
00031         wait(motorPwmWaitTime);
00032     }
00033     pwmOut = 1;
00034 
00035     positiveOut = 0;
00036     negativeOut = 0;
00037     direction = 0;
00038     wait_ms(1000);
00039 }
00040 
00041 void Motor::movePositive() {
00042 
00043     if(direction == 1)
00044         return;
00045 
00046     if(direction == -1)
00047         stop();
00048         
00049     positiveOut = 1;
00050     direction = 1;
00051     start();
00052 }
00053 
00054 void Motor::moveNegative() {
00055 
00056     if(direction == -1)
00057         return;
00058 
00059     if(direction == 1)
00060         stop();
00061         
00062     negativeOut = 1;
00063     direction = -1;
00064     start();
00065 }
00066 
00067 bool Motor::isMoving() {
00068 
00069     return direction == 0;
00070 }