Diff: main.cpp

Revision:

30:b1718c4edcd7

Parent:

29:ed9f7144a6a7

Child:

31:aa1ea0973c96

--- a/main.cpp	Thu Apr 23 20:14:44 2020 +0000
+++ b/main.cpp	Thu Apr 23 20:18:51 2020 +0000
@@ -1,6 +1,7 @@
 #include "mbed.h"
 #include "rtos.h"
 #include "LSM9DS1.h"
+#include "Motor.h"
 
 
 ///////////////////////////////////////////////////////////////////////////////
@@ -37,8 +38,8 @@
 
 float angleBias = 0;
 
-PwmOut leftWheel(p21);
-PwmOut rightWheel(p22);
+Motor leftWheel(p21, p24, p23); // pwm, fwd, rev leftWheel(p21);
+Motor rightWheel(p22, p26, p25); // pwm, fwd, rev rightWheel(p22);
 
 
 ///////////////////////////////////////////////////////////////////////////////
@@ -129,8 +130,8 @@
 void set_wheel_speed(float speed) {
     if(speed > 1) speed = 1;
     if (speed < -1) speed = -1;
-    leftWheel = speed;
-    rightWheel = speed;
+    leftWheel.speed(speed);
+    rightWheel.speed(speed);
 }
 
 
@@ -203,8 +204,8 @@
     
     //bluetooth.attach(&bluetooth_update, 0.1);
     while (1) {
-        leftWheel=1;
-        rightWheel=1;
+        leftWheel.speed(1);
+        rightWheel.speed(1);
         Thread::wait(10000);
         //bluetooth_update();
         //parametersmutex.lock();