Diff: Sabertooth2x25.cpp

Revision:

2:6a3a047c1ce1

Parent:

1:b8f62e733e56

Child:

3:482383d9a5de

--- a/Sabertooth2x25.cpp	Fri Sep 23 13:06:59 2011 +0000
+++ b/Sabertooth2x25.cpp	Sun Oct 16 23:33:36 2011 +0000
@@ -1,70 +1,70 @@
-#include"Sabertooth2x25.h"
-
-Sabertooth2x25::Sabertooth2x25(PinName tx,int baudrate):device_(tx,NC){
-    device_.baud(baudrate);
-}
-
-void Sabertooth2x25::sendCommand(int address, int command, int data) {
-    checksum_ = (unsigned char)((address + command + data) & 0x7F);// checksum
-
-    device_.putc((unsigned char)address);
-    device_.putc((unsigned char)command);
-    device_.putc((unsigned char)data);
-    device_.putc(checksum_);
-}
-
-void Sabertooth2x25::forward_motor_1(int device_address, int speed) {
-    sendCommand(device_address, DRIVE_FORWARD_MOTOR_ONE , speed);
-}
-
-void Sabertooth2x25::backwards_motor_1(int device_address, int speed) {
-    sendCommand(device_address, DRIVE_BACKWARD_MOTOR_ONE, speed);
-}
-
-void Sabertooth2x25::min_voltage(int device_address, int data) {
-    sendCommand(device_address, MIN_VOLTAGE, data);
-}
-
-void Sabertooth2x25::max_voltage(int device_address, int data) {
-    sendCommand(device_address, MAX_VOLTAGE, data);
-}
-
-void Sabertooth2x25::forward_motor_2(int device_address, int speed) {
-    sendCommand(device_address, DRIVE_FORWARD_MOTOR_TWO, speed);
-}
-
-void Sabertooth2x25::backwards_motor_2(int device_address, int speed) {
-    sendCommand(device_address, DRIVE_BACKWARD_MOTOR_TWO, speed);
-}
-
-void Sabertooth2x25::drive_motor_1(int device_address, int speed) {
-    sendCommand(device_address, DRIVE_MOTOR_ONE_7BIT , speed);
-}
-
-void Sabertooth2x25::drive_motor_2(int device_address, int speed) {
-    sendCommand(device_address, DRIVE_MOTOR_TWO_7BIT, speed);
-}
-
-void Sabertooth2x25::drive_forward_mixed_mode(int device_address, int speed) {
-    sendCommand(device_address, DRIVE_FORWARD_MIXED_MODE, speed);
-}
-
-void Sabertooth2x25::drive_backwards_mixed_mode(int device_address, int speed) {
-    sendCommand(device_address, DRIVE_BACKWARD_MIXED_MODE, speed);
-}
-
-void Sabertooth2x25::turn_right_mixed_mode(int device_address, int speed) {
-    sendCommand(device_address, TURN_RIGHT_MIXED_MODE, speed);
-}
-
-void Sabertooth2x25::drive_turn_left_mixed_mode(int device_address, int speed) {
-    sendCommand(device_address, DRIVE_TURN_LEFT_MIXED_MODE, speed);
-}
-
-void Sabertooth2x25::drive_forwards_back(int device_address, int speed) {
-    sendCommand(device_address, DRIVE_FORWARD_BACK_7BIT, speed);
-}
-
-void Sabertooth2x25::turn(int device_address, int speed) {
-    sendCommand(device_address, TURN_7BIT, speed);
+#include"Sabertooth2x25.h"
+
+Sabertooth2x25::Sabertooth2x25(PinName tx,int baudrate):device_(tx,NC){
+    device_.baud(baudrate);
+}
+
+void Sabertooth2x25::sendCommand(int address, int command, int data) {
+    checksum_ = (unsigned char)((address + command + data) & 0x7F);// checksum
+
+    device_.putc((unsigned char)address);
+    device_.putc((unsigned char)command);
+    device_.putc((unsigned char)data);
+    device_.putc(checksum_);
+}
+
+void Sabertooth2x25::forward_motor_1(int device_address, int speed) {
+    sendCommand(device_address, DRIVE_FORWARD_MOTOR_ONE , speed);
+}
+
+void Sabertooth2x25::backwards_motor_1(int device_address, int speed) {
+    sendCommand(device_address, DRIVE_BACKWARD_MOTOR_ONE, speed);
+}
+
+void Sabertooth2x25::min_voltage(int device_address, int data) {
+    sendCommand(device_address, MIN_VOLTAGE, data);
+}
+
+void Sabertooth2x25::max_voltage(int device_address, int data) {
+    sendCommand(device_address, MAX_VOLTAGE, data);
+}
+
+void Sabertooth2x25::forward_motor_2(int device_address, int speed) {
+    sendCommand(device_address, DRIVE_FORWARD_MOTOR_TWO, speed);
+}
+
+void Sabertooth2x25::backwards_motor_2(int device_address, int speed) {
+    sendCommand(device_address, DRIVE_BACKWARD_MOTOR_TWO, speed);
+}
+
+void Sabertooth2x25::drive_motor_1(int device_address, int speed) {
+    sendCommand(device_address, DRIVE_MOTOR_ONE_7BIT , speed);
+}
+
+void Sabertooth2x25::drive_motor_2(int device_address, int speed) {
+    sendCommand(device_address, DRIVE_MOTOR_TWO_7BIT, speed);
+}
+
+void Sabertooth2x25::drive_forward_mixed_mode(int device_address, int speed) {
+    sendCommand(device_address, DRIVE_FORWARD_MIXED_MODE, speed);
+}
+
+void Sabertooth2x25::drive_backwards_mixed_mode(int device_address, int speed) {
+    sendCommand(device_address, DRIVE_BACKWARD_MIXED_MODE, speed);
+}
+
+void Sabertooth2x25::turn_right_mixed_mode(int device_address, int speed) {
+    sendCommand(device_address, TURN_RIGHT_MIXED_MODE, speed);
+}
+
+void Sabertooth2x25::drive_turn_left_mixed_mode(int device_address, int speed) {
+    sendCommand(device_address, DRIVE_TURN_LEFT_MIXED_MODE, speed);
+}
+
+void Sabertooth2x25::drive_forwards_back(int device_address, int speed) {
+    sendCommand(device_address, DRIVE_FORWARD_BACK_7BIT, speed);
+}
+
+void Sabertooth2x25::turn(int device_address, int speed) {
+    sendCommand(device_address, TURN_7BIT, speed);
 }
\ No newline at end of file