Diff: MDDS30_oit.cpp

Revision:

4:085a9c395959

Parent:

3:a64fd9b238c5

Child:

5:40f33560d8a1

--- a/MDDS30_oit.cpp	Thu Jul 22 01:06:29 2021 +0000
+++ b/MDDS30_oit.cpp	Sat Jul 24 11:13:57 2021 +0000
@@ -1,23 +1,31 @@
 #include "MDDS30_oit.h"
 
+
 MDDS30oit::MDDS30oit(PinName _txpin, PinName _rxpin) : md(_txpin, _rxpin, 115200)
 {
-                 
-                 direction=0;
-                 leftfront=0;
-                 rightfront=0;
-                 leftback=0;
-                 rightback=0;
+    word=1;
+    word2=0;
+    direction=0;
+    leftfront=0;
+    rightfront=0;
+    leftback=0;
+    rightback=0;
+    direction=0;
+    leftfront=0;
+    rightfront=0;
+    leftback=0;
+    rightback=0;
                 
-                }
+}
 
 void MDDS30oit::lefttire(float speed){
-                speed=speed*63.0f;
+                speed=speed*127.0f;
                 if(speed>0){
                     direction=(word2<<1)|0;
                     }
                 else{
                     direction=(word2<<1)|1;
+                    speed = -speed;
                     }
                 leftfront=(direction<<6)|(int)speed;
                 md.putc(leftfront);
@@ -26,12 +34,13 @@
 }
 
 void MDDS30oit::righttire(float speed){
-                speed=speed*63.0f;
+                speed=speed*127.0f;
                 if(speed>0){
                     direction=(word<<1)|0;
                     }
                 else{
                     direction=(word<<1)|1;
+                    speed = -speed;
                     }
                 rightfront=(direction<<6)|(int)speed;
                 md.putc(rightfront);