Diff: MDDS30_oit.cpp

Revision:

3:a64fd9b238c5

Parent:

0:670c09433f11

Child:

4:085a9c395959

--- a/MDDS30_oit.cpp	Fri Feb 12 09:02:32 2021 +0000
+++ b/MDDS30_oit.cpp	Thu Jul 22 01:06:29 2021 +0000
@@ -13,7 +13,12 @@
 
 void MDDS30oit::lefttire(float speed){
                 speed=speed*63.0f;
-                direction=(word2<<1)|0;
+                if(speed>0){
+                    direction=(word2<<1)|0;
+                    }
+                else{
+                    direction=(word2<<1)|1;
+                    }
                 leftfront=(direction<<6)|(int)speed;
                 md.putc(leftfront);
 //              r=r|31;
@@ -22,27 +27,14 @@
 
 void MDDS30oit::righttire(float speed){
                 speed=speed*63.0f;
-                direction=(word<<1)|0;
+                if(speed>0){
+                    direction=(word<<1)|0;
+                    }
+                else{
+                    direction=(word<<1)|1;
+                    }
                 rightfront=(direction<<6)|(int)speed;
-              md.putc(rightfront);
+                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