Diff: BridgeDriver.cpp

Revision:

7:7dabd934ebe4

Parent:

6:d4afd3284a04

Child:

8:36e2cd31ccf3

--- a/BridgeDriver.cpp	Thu Jul 24 21:30:41 2014 +0000
+++ b/BridgeDriver.cpp	Thu Jul 24 21:48:32 2014 +0000
@@ -75,14 +75,14 @@
 }
 
 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);
+    enablePwm(MOTOR_A, enPwmA);
+    enablePwm(MOTOR_B, enPwmB);
+    enablePwm(MOTOR_C, enPwmC);
+    enablePwm(MOTOR_D, enPwmD);
 }
 
-void BridgeDriver::enablePwm(Bridges bridge, uint8_t enPwm){
-    int bNum = static_cast<int>(bridge); //numeric bridge
+void BridgeDriver::enablePwm(Motors motor, uint8_t enPwm){
+    int bNum = static_cast<int>(motor); //numeric motor
     if(enPwm == _pwm[bNum]){
         return;
     }else if(enPwm == 0){ //disable pwm
@@ -98,14 +98,14 @@
 }
 
 void BridgeDriver::enableBraking(uint8_t enBrakeA, uint8_t enBrakeB, uint8_t enBrakeC, uint8_t enBrakeD){  //1 - drives output to GND when off; 0 - floats output when off
-    enableBraking(BRIDGE_A, enBrakeA);
-    enableBraking(BRIDGE_B, enBrakeB);
-    enableBraking(BRIDGE_C, enBrakeC);
-    enableBraking(BRIDGE_D, enBrakeD);
+    enableBraking(MOTOR_A, enBrakeA);
+    enableBraking(MOTOR_B, enBrakeB);
+    enableBraking(MOTOR_C, enBrakeC);
+    enableBraking(MOTOR_D, enBrakeD);
 }
 
-void BridgeDriver::enableBraking(Bridges bridge, uint8_t enBrake) {
-    _braking[static_cast<int>(bridge)] = enBrake;
+void BridgeDriver::enableBraking(Motors motor, uint8_t enBrake) {
+    _braking[static_cast<int>(motor)] = enBrake;
 }
 
 int BridgeDriver::forceBrake(uint8_t ch){             //force a specific channel to GND without changing braking default
@@ -119,13 +119,20 @@
     }
 }
 
-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::forceBrake(Motors motor){     //force a specific motor to GND without changing braking default
+    return static_cast<int>(drive(motor, 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;
+    int bNum = (ch-1)/2;
+    if( _pwm[bNum] ){
+        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);
+        *_d[2*bNum] = 0;
+        return *_d[2*bNum + 1] = 0;
     }else{
         enableCh(ch-1, 0);
         setLed(ch-1, 0);
@@ -133,8 +140,8 @@
     }
 }
 
-int BridgeDriver::forceFloat(Bridges bridge){     //force a specific motor to float without changing braking default
-    int bNum = static_cast<int>(bridge); //numeric bridge
+int BridgeDriver::forceFloat(Motors motor){     //force a specific motor to float without changing braking default
+    int bNum = static_cast<int>(motor); //numeric motor
     
     if(_pwm[bNum] == 0){
         return -1;
@@ -192,27 +199,27 @@
     }
 }
 
-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
+float BridgeDriver::drive(Motors motor, float speed){ //speed from -1 to 1, speed of 0 will coast or brake depending on setting of _braking
+    int bNum = static_cast<int>(motor); //numeric motor
     
     if(_pwm[bNum] == 0){
         return -20 - bNum;
     }
     
     if(speed == 0){
-        return drive(bridge, 1, 0);
+        return drive(motor, 1, 0);
     }else if(speed > 0){
-        return drive(bridge, 1, speed);
+        return drive(motor, 1, speed);
     }else{  
-        return drive(bridge, -1, -1*speed);
+        return drive(motor, -1, -1*speed);
     }
 }
 
-float BridgeDriver::drive(Bridges bridge, int8_t dir, float speed){ 
+float BridgeDriver::drive(Motors motor, 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
     
-    int bNum = static_cast<uint8_t>(bridge); //numeric bridge
+    int bNum = static_cast<uint8_t>(motor); //numeric motor
     
     if(_pwm[bNum] == 0){
         return -10 - bNum;