Diff: Devices/Motor.cpp

Revision:

11:bc9cd2869f95

Parent:

10:e8db892fbc52

Child:

14:953820302fb7

--- a/Devices/Motor.cpp	Wed Sep 24 22:54:36 2014 +0000
+++ b/Devices/Motor.cpp	Wed Oct 01 18:11:38 2014 +0000
@@ -79,6 +79,10 @@
             return 0; //Function operated successfully but doesn't return a value
             
         bridges.forceBrake(getMotor());
+        
+        //Record the settings for Pause and Resume
+        currDir = 0;
+        currSpeed = 0;
     }
     
     
@@ -131,6 +135,10 @@
             return 0; //Function operated successfully but doesn't return a value
             
         bridges.drive(getMotor(), dirValue, speedValue); //Turn on the Motor
+        
+        //Record the settings for Pause and Resume
+        currDir = dirValue;
+        currSpeed = speedValue;
     }
     
     
@@ -164,75 +172,22 @@
 //For stopping the entire system if an error occurs, can be called from main
 int Motor::off(void){
     bridges.drive(getMotor(), 0, 0); //Turn off the Motor
+    
+    //Record the settings for Pause and Resume, and exit
+    currDir = 0;
+    currSpeed = 0;
     return 0;
 }
 
 
-/*
-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;
+//Stop the motor without changing the previous known settings, so that it will be saved on resume
+int Motor::pause(void){
+    bridges.drive(getMotor(), 0, 0); //Turn off the Motor
+    return 0;
 }
 
-int Motor::forceBrake(){
-
-    if (lineData.numWords != 3){
-         //Error Check, incorrect number of parameter, error out
-        return 0;
-    }
-    
-    bridges.forceBrake(getMotor());
+//Resume the motor using its previously known settings
+int Motor::resume(void){
+    bridges.drive(getMotor(), this->currDir, this->currSpeed); //Resume Motor from it's last known state
+    return 0;
 }
-    
-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