Diff: Motor.cpp

Revision:

4:86d0d04cc055

Parent:

3:078e9a1e8be3

Child:

5:e36e0538a903

--- a/Motor.cpp	Fri Sep 19 00:46:26 2014 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,224 +0,0 @@
-#include "Motor.hpp"
-//#include "mbed.h"
-//#include "LocalPinNames.h"
-//#include "BridgeDriver.h"
-
-//Constructor
-Motor::Motor(Line lineData){
-    /*
-    //Order of Line: Command, Local_Name, VOLTAGE_DRIVER, Channel(1,2,3,4,5,6,7,8)
-    if (lineData.numWords != 4){
-         //Error Check, incorrect number of parameter, error out
-        //return 0;
-    }*/
-    
-    /*lcd.setAddress(0,3);
-    lcd.printf("CHECK Motor Construct");
-    wait(2);*/
-    
-    string channel = lineData.word[3]; //Parameter is a single character, so dereference the point to the word
-
-    if ((channel.compare("A") == 0) || (channel.compare("a") == 0))
-            this->motor = BridgeDriver::MOTOR_A;
-    else if ((channel.compare("B") == 0) || (channel.compare("b") == 0))
-            this->motor = BridgeDriver::MOTOR_B;
-    else if ((channel.compare("C") == 0) || (channel.compare("c") == 0))
-            this->motor = BridgeDriver::MOTOR_C;
-    else if ((channel.compare("D") == 0) || (channel.compare("d") == 0))
-            this->motor = BridgeDriver::MOTOR_D;
-}
-    
-    
-enum BridgeDriver::Motors Motor::getMotor(){     
-    return this->motor;
-}
-
-//A line consists of [ __(Local_Name)__ __(function)__ __(parameter1)__ __(parameter2)__ __(parameter3)__ ... and so on]
-int Motor::interpret(Line &lineData){
-    /*
-    lcd.setAddress(0,2);
-    lcd.printf("CHECK Motor 123456");
-    lcd.setAddress(0,3);
-    lcd.printf("func: %s  ", lineData.word[1]);
-    wait(2);*/
-
-    //Order of Line: Local_Name, Function_Name, Param1, Param2, Param3,.......
-    //char localname[15] = lineData.word[0]; //just for the sake of following the variable easily and understanding 
-    string func = lineData.word[1];
-        
-    /******************************************************************************/
-    /***                       <Func: enableBrake>                              ***/
-    /******************************************************************************/
-    if (func.compare("enableBrake") == 0){
-        
-        if (lineData.numWords != 4){
-             //Error Check, incorrect number of parameter, error out
-            return 0;
-        }
-        
-        //Initialize and Convert Parameters
-        string enable = lineData.word[2];
-        int enableValue = 0;
-        sscanf(enable.c_str(), "%d", &enableValue);
-        
-        bridges.enableBraking(getMotor(), enableValue);
-    }
-        
-    /******************************************************************************/
-    /***                       <Func: forceBrake>                               ***/
-    /******************************************************************************/
-    else if (func.compare("forceBrake") == 0){
-        
-        if (lineData.numWords != 3){
-             //Error Check, incorrect number of parameter, error out
-            return 0;
-        }
-        
-        bridges.forceBrake(getMotor());
-    }
-    
-    
-    /******************************************************************************/
-    /***                           <Func: drive>                                ***/
-    /******************************************************************************/
-    else if (func.compare("drive") == 0){
-        
-        /*lcd.setAddress(0,2);
-        lcd.printf("wrd2: %s", lineData.word[1]);
-        lcd.setAddress(0,3);
-        lcd.printf("TEST2  ");
-        wait(2);*/
-
-        if (lineData.numWords != 4){
-             //Error Check, incorrect number of parameter, error out
-            return 0;
-        }
-                
-        //Initialize Parameters
-        string speed = lineData.word[2];
-        string dir = lineData.word[3];
-        
-        //Initialize Convertion Variables if needed
-        float speedValue;
-        int dirValue = 0;
-        
-        //Convert string to usable values
-        //NOTE both atof and atoi functions return 0 if no valid conversion could be performed
-        sscanf(speed.c_str(), "%f", &speedValue);
-        speedValue = speedValue / 100;
-        
-        if (speedValue <= 0)
-            return 0; //Error Out because a value gives no functionality or is wrong
-                
-        if (dir.compare("CC") == 0 || dir.compare("cc") == 0)
-            dirValue = -1; //Turn Clockwise
-        else if (dir.compare("C") == 0 || dir.compare("c") == 0)
-            dirValue = 1; //Turn CounterClockwise
-        else
-            return 0; //Error Out since the parameter is incorrect
-        
-        
-        bridges.drive(getMotor(), dirValue, speedValue); //Turn on the Motor
-        
-    }
-    /******************************************************************************/
-    /****                           <Func: off>                                ****/
-    /******************************************************************************/
-    else if (func.compare("off") == 0){
-        
-        /*lcd.setAddress(0,2);
-        lcd.printf("wrd2: %s", lineData.word[1]);
-        lcd.setAddress(0,3);
-        lcd.printf("TEST2  ");
-        wait(1);*/
-        
-        if (lineData.numWords != 2){
-             //Error Check, incorrect number of parameter, error out
-            return 0;
-        }
-             
-        bridges.drive(getMotor(), 0, 0); //Turn off the Motor
-    }
-    
-    else {
-        return 0;
-        
-    }  
-    
-    return 1;
-}
-
-
-
-
-
-
-
-/*
-int Motor::enableBrake(){
-  
-    if (lineData.numWords != 4){
-         //Error Check, incorrect number of parameter, error out
-        return 0;
-    }
-    
-    //Initialize and Convert Parameters
-    char *enable = lineData.word[2];
-    int enableValue = atoi(enable);
-    
-    //If the atoi returned anything besides 0, it worked properly
-    if (enableValue) 
-        bridges.enableBraking(getMotor(), enableValue);
-    else{
-         //Error Check, incorrect number of parameter, error out
-        return 0;
-    }
-    
-    return 1;
-}
-
-int Motor::forceBrake(){
-
-    if (lineData.numWords != 3){
-         //Error Check, incorrect number of parameter, error out
-        return 0;
-    }
-    
-    bridges.forceBrake(getMotor());
-}
-    
-int Motor::drive(){
-        
-            if (lineData.numWords != 4){
-                 //Error Check, incorrect number of parameter, error out
-                return 0;
-            }
-                        
-            //Initialize Parameters
-            char *speed = lineData.word[2];
-            char *dir = lineData.word[3];
-            
-            //Initialize Convertion Variables if needed
-            float speedValue;
-            int dirValue = 0;
-    
-            //Convert string to usable values
-            //NOTE both atof and atoi functions return 0 if no valid conversion could be performed
-            speedValue = atof(speed) / 100;
-            
-            if (speedValue <= 0)
-                return 0; //Error Out because a value gives no functionality or is wrong
-            
-            if (strncmp(dir,"CC", 2) == 0 || strncmp(dir,"cc", 2) == 0)
-                dirValue = -1; //Turn Clockwise
-            else if (strncmp(dir,"C", 1) == 0 || strncmp(dir,"c", 1) == 0)
-                dirValue = 1; //Turn CounterClockwise
-            else
-                return 0; //Error Out since the parameter is incorrect
-                
-            bridges.drive(getMotor(), dirValue, speedValue); //Turn on the Motor
-}    
-*/
-
-
-        
\ No newline at end of file