Diff: BridgeDriver.cpp

Revision:

6:d4afd3284a04

Parent:

4:87768972db3f

Child:

7:7dabd934ebe4

--- a/BridgeDriver.cpp	Thu Jul 24 17:34:23 2014 +0000
+++ b/BridgeDriver.cpp	Thu Jul 24 21:30:41 2014 +0000
@@ -49,8 +49,7 @@
 
     
 }
-    
-        
+       
 BridgeDriver::~BridgeDriver(){
     for(int i=0; i<4; i++){
         if(_pwm[i]){
@@ -75,13 +74,13 @@
     }
 }
 
-
 void BridgeDriver::enablePwm(uint8_t enPwmA, uint8_t enPwmB, uint8_t enPwmC, uint8_t enPwmD){
     enablePwm(BRIDGE_A, enPwmA);
     enablePwm(BRIDGE_B, enPwmB);
     enablePwm(BRIDGE_C, enPwmC);
     enablePwm(BRIDGE_D, enPwmD);
 }
+
 void BridgeDriver::enablePwm(Bridges bridge, uint8_t enPwm){
     int bNum = static_cast<int>(bridge); //numeric bridge
     if(enPwm == _pwm[bNum]){
@@ -104,6 +103,7 @@
     enableBraking(BRIDGE_C, enBrakeC);
     enableBraking(BRIDGE_D, enBrakeD);
 }
+
 void BridgeDriver::enableBraking(Bridges bridge, uint8_t enBrake) {
     _braking[static_cast<int>(bridge)] = enBrake;
 }
@@ -118,9 +118,11 @@
         return 0;
     }
 }
+
 int BridgeDriver::forceBrake(Bridges bridge){     //force a specific motor to GND without changing braking default
     return static_cast<int>(drive(bridge, 0, 0));
 }
+
 int BridgeDriver::forceFloat(uint8_t ch){             //force a specific channel to float without changing braking default
     if( _pwm[(ch-1)/2]){
         return -1;
@@ -130,6 +132,7 @@
         return *_d[ch-1] = 0;
     }
 }
+
 int BridgeDriver::forceFloat(Bridges bridge){     //force a specific motor to float without changing braking default
     int bNum = static_cast<int>(bridge); //numeric bridge
     
@@ -168,6 +171,7 @@
         return !!state;             
     }
 }
+
 int BridgeDriver::drive(uint8_t ch, uint8_t on){
     if( _pwm[(ch-1)/2]){
         return -1;
@@ -187,6 +191,7 @@
         return *_d[ch-1] = 0;
     }
 }
+
 float BridgeDriver::drive(Bridges bridge, float speed){ //speed from -1 to 1, speed of 0 will coast or brake depending on setting of _braking
     int bNum = static_cast<int>(bridge); //numeric bridge
     
@@ -202,6 +207,7 @@
         return drive(bridge, -1, -1*speed);
     }
 }
+
 float BridgeDriver::drive(Bridges bridge, int8_t dir, float speed){ 
     //dir: 1=fwd,  -1=rev, 0=brake (regardless of setting of _braking
     //speed from 0 to 1, speed of 0 will coast or brake depending on setting of _braking