Revision 2:118efce95f3c, committed 2013-07-15

Comitter:

melse

Date:

Mon Jul 15 13:47:09 2013 +0000

Parent:

1:5c40f2a5e1ac

Child:

3:ccd47cdacb7b

Commit message:

added more docs

Changed in this revision

--- a/SeeedStudioShieldBot.cpp	Mon Jul 15 13:38:07 2013 +0000
+++ b/SeeedStudioShieldBot.cpp	Mon Jul 15 13:47:09 2013 +0000
@@ -2,17 +2,17 @@
 #include "mbed.h"
 
 
-SeeedStudioShieldBot::SeeedStudioShieldBot() :  motor1A(PTA5),
-    motor1B(PTC9),
-    motor2A(PTA12),
-    motor2B(PTD0),
-    motor1En(PTC8),
-    motor2En(PTD5),
-    rightSensor(PTB0),
+SeeedStudioShieldBot::SeeedStudioShieldBot() :  rightSensor(PTB0),
     inRightSensor(PTB1),
     centreSensor(PTB2),
     inLeftSensor(PTB3),
-    leftSensor(PTA4) {
+    leftSensor(PTA4),
+    motor1A(PTA5),
+    motor1B(PTC9),
+    motor1En(PTC8),
+    motor2A(PTA12),
+    motor2B(PTD0),
+    motor2En(PTD5) {
     // Something should go here...
 }
 
@@ -80,19 +80,19 @@
     }
 }
 
-void SeeedStudioShieldBot::enable_motor_a() {
+void SeeedStudioShieldBot::enable_right_motor() {
     motor1En = 1;
 }
 
-void SeeedStudioShieldBot::enable_motor_b() {
+void SeeedStudioShieldBot::enable_left_motor() {
     motor2En = 1;
 }
 
-void SeeedStudioShieldBot::disable_motor_a() {
+void SeeedStudioShieldBot::disable_right_motor() {
     motor1En = 0;
 }
 
-void SeeedStudioShieldBot::disable_motor_b() {
+void SeeedStudioShieldBot::disable_left_motor() {
     motor2En = 0;
 }
 
@@ -122,4 +122,16 @@
     motor1B = 0;
     motor2A = 0;
     motor2B = 0;
+}
+
+void SeeedStudioShieldBot::stop(int motor) {
+    if (motor == 1) {
+        // Stop motor 0...
+        motor1A = 0;
+        motor1B = 0;
+    }
+    else if (motor == 2) {
+        motor2A = 0;
+        motor2B = 0;
+    }
 }
\ No newline at end of file

--- a/SeeedStudioShieldBot.h	Mon Jul 15 13:38:07 2013 +0000
+++ b/SeeedStudioShieldBot.h	Mon Jul 15 13:47:09 2013 +0000
@@ -6,6 +6,8 @@
         // Create a shield bot object, using default settings for now...
         SeeedStudioShieldBot();
         
+        /** Switch on the left motor at the given speed.
+        */
         void left_motor(float speed);
         void right_motor(float speed);
         
@@ -18,13 +20,14 @@
         void left(float speed);
         void right(float speed);
 
-        void disable_motor_a();
-        void disable_motor_b();
+        void disable_left_motor();
+        void disable_right_motor();
         
-        void enable_motor_a();
-        void enable_motor_b();
+        void enable_left_motor();
+        void enable_right_motor();
         
         void stopAll();
+        void stop(int motor);
         
         // Need to do something to do with detected line...