Diff: MDDS30_oit.cpp

Revision:

1:213d63a76a25

Parent:

0:670c09433f11

--- a/MDDS30_oit.cpp	Fri Feb 12 09:02:32 2021 +0000
+++ b/MDDS30_oit.cpp	Fri Jul 30 11:00:46 2021 +0000
@@ -1,48 +1,51 @@
 #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;
-                direction=(word2<<1)|0;
+                speed = speed * 63.0f;
+                if(speed>0){
+                    direction=(word2<<1)|0;
+                    }
+                else{
+                    direction=(word2<<1)|1;
+                    speed = -speed;
+                    }
                 leftfront=(direction<<6)|(int)speed;
+                
                 md.putc(leftfront);
 //              r=r|31;
 //                pc.printf("%d\n",leftfront);
 }
 
 void MDDS30oit::righttire(float speed){
-                speed=speed*63.0f;
-                direction=(word<<1)|0;
-                rightfront=(direction<<6)|(int)speed;
-              md.putc(rightfront);
+                speed = speed * 63.0f;
+                if(speed>0){
+                    direction=(word<<1)|0;
+                    }
+                else{
+                    direction=(word<<1)|1;
+                    speed = -speed;
+                    }
+                rightfront = (direction<<6)|(int)speed;
+                
+                md.putc(rightfront);
 //              r=r|31;
 //                pc.printf("%d\n",rightfront);
-}
-
-void MDDS30oit::lefttire2(float speed){
-                speed=speed*63.0f;
-                direction=(word2<<1)|1;
-                leftback=(direction<<6)|(int)speed;
-                md.putc(leftback);
-//              r=r|31;
-//                pc.printf("%d\n",leftback);
-}
-
-void MDDS30oit::righttire2(float speed){
-                speed=speed*63.0f;
-                direction=(word<<1)|1;
-                rightback=(direction<<6)|(int)speed;
-                md.putc(rightback);
-//              r=r|31;
-//                pc.printf("%d\n",rightback);
 }
\ No newline at end of file