Diff: BridgeDriver.cpp

Revision:

4:87768972db3f

Parent:

3:247939286d2c

Child:

6:d4afd3284a04

diff -r 247939286d2c -r 87768972db3f BridgeDriver.cpp
--- a/BridgeDriver.cpp	Fri Jul 18 23:13:09 2014 +0000
+++ b/BridgeDriver.cpp	Mon Jul 21 19:03:42 2014 +0000
@@ -5,7 +5,6 @@
 
 #include "MCP23017.h"
 
-//TO-DO: check order of setting output and enabling/disabling channel
 
 BridgeDriver::BridgeDriver( I2C *i2c, uint8_t enPwmA, uint8_t enPwmB, uint8_t enPwmC, uint8_t enPwmD, uint8_t enAddr, uint8_t ledAddr) :
                             _i2c(i2c),
@@ -137,15 +136,11 @@
     if(_pwm[bNum] == 0){
         return -1;
     }else{
-        if(_dir[bNum] != 0){
-            setPwm(2*bNum, 0);
-            setPwm(2*bNum + 1, 0);
-            _dir[bNum] = 0;
-        }
+        setPwm(2*bNum, 0);  //channel is disabled in setPwm()
+        setPwm(2*bNum + 1, 0);  //channel is disabled in setPwm()
+        _dir[bNum] = 0;
         setLed(2*bNum, 0);
         setLed(2*bNum + 1, 0);
-        enableCh(2*bNum, 0);        //enable/disable channels as necessary for braking/coasting
-        enableCh(2*bNum + 1, 0);
         *_d[2*bNum] = 0;
         return *_d[2*bNum + 1] = 0;
     }
@@ -166,7 +161,7 @@
                     enableCh(i, 1);
                 }else{
                     enableCh(i, 0);
-                    *_d[i] = 0;         //brake output
+                    *_d[i] = 0;         //float/coast output
                 }
             }
         }
@@ -177,10 +172,11 @@
     if( _pwm[(ch-1)/2]){
         return -1;
     }else if(on){               //on
+        *_d[ch-1] = 1;
         enableCh(ch-1, 1);
         setLed(ch-1, 1);
-        return *_d[ch-1] = 1;   //off, brake
-    }else if(_braking[(ch-1)/2]){
+        return 1;   
+    }else if(_braking[(ch-1)/2]){   //off, brake
         *_d[ch-1] = 0;
         enableCh(ch-1, 1);
         setLed(ch-1, 0);
@@ -225,52 +221,48 @@
             setPwm(2*bNum + 1, 0);
             _dir[bNum] = 0;
         }
-        setLed(2*bNum, 0);
-        setLed(2*bNum + 1, 0);
         *_d[2*bNum] = 0;
         *_d[2*bNum + 1] = 0;
         enableCh(2*bNum, 1);        //enable channels for braking
         enableCh(2*bNum + 1, 1);
+        setLed(2*bNum, 0);
+        setLed(2*bNum + 1, 0);
         
         return 0;
         
     }else if(speed == 0){       //coast
-        if(_dir[bNum] != 0){
-            setPwm(2*bNum, 0);
-            setPwm(2*bNum + 1, 0);
-            _dir[bNum] = 0;
-        }
+        setPwm(2*bNum, 0);  //channel is disabled in setPwm()
+        setPwm(2*bNum + 1, 0);  //channel is disabled in setPwm()
+        _dir[bNum] = 0;
         setLed(2*bNum, 0);
         setLed(2*bNum + 1, 0);
-        enableCh(2*bNum, 0);       //coast channels
-        enableCh(2*bNum + 1, 0);
         *_d[2*bNum] = 0;
         return *_d[2*bNum + 1] = 0;
-    }else if(dir == 1){
+    }else if(dir == 1){         //forward
         if(_dir[bNum] != 1){
             setPwm(2*bNum, 1);
             setPwm(2*bNum + 1, 0);
             _dir[bNum] = 1;
         }
-        setLed(2*bNum, 1);
-        setLed(2*bNum + 1, 0);
         *_p[2*bNum] = speed;
         *_d[2*bNum + 1] = 0;
         enableCh(2*bNum, 1);        //enable channels
         enableCh(2*bNum + 1, 1);
+        setLed(2*bNum, 1);
+        setLed(2*bNum + 1, 0);
         return speed;
-    }else if(dir == -1){
+    }else if(dir == -1){        //reverse
         if(_dir[bNum] != -1){
             setPwm(2*bNum, 0);
             setPwm(2*bNum + 1, 1);
             _dir[bNum] = -1;
         }
-        setLed(2*bNum, 0);
-        setLed(2*bNum + 1, 1);
         *_d[2*bNum] = 0;
         *_p[2*bNum + 1] = speed;
         enableCh(2*bNum, 1);        //enable channels
         enableCh(2*bNum + 1, 1);
+        setLed(2*bNum, 0);
+        setLed(2*bNum + 1, 1);
         return speed;
     } 
     return -2;
@@ -378,7 +370,7 @@
                     _p[ch] = new PwmOut(PIN_CH8);
                 break;
             }
-            _p[ch]->period(0.001);
+            _p[ch]->period(PWM_PERIOD);
             _pwmCh = _pwmCh | (1 << ch);
         }
     }