Noam Nahum / ForItay

program for encoder

Diff: Motor.cpp

Revision:
4:79e803bc20ca
Parent:
3:42a75eba182b
--- a/Motor.cpp	Tue Jan 07 08:57:50 2020 +0000
+++ b/Motor.cpp	Wed Jun 16 18:44:41 2021 +0000
@@ -24,21 +24,24 @@
 
 #include "mbed.h"
 
-Motor::Motor(PinName pwm, PinName fwd, PinName rev):
-        _pwm(pwm), _fwd(fwd), _rev(rev) {
+Motor::Motor(PinName pwm, PinName fwd):
+        _pwm(pwm), _fwd(fwd) {
 
     // Set initial condition of PWM
-    _pwm.period(0.00005);
+    _pwm.period(0.005);
     _pwm = 0;
 
     // Initial condition of output enables
     _fwd = 0;
-    _rev = 0;
 }
 
 void Motor::speed(float speed) {
-    _fwd = (speed > 0.0);
-    _rev = (speed < 0.0);
+    if(speed > 0){
+        _fwd = true;
+        }
+    else{
+        _fwd = false;
+        }
     _pwm = abs(speed);
 }