Revision 0:0d650a332dcc, committed 2014-10-19

Comitter:

pclary

Date:

Sun Oct 19 07:51:25 2014 +0000

Commit message:

Code imported from Micromouse 2014

Changed in this revision

diff -r 000000000000 -r 0d650a332dcc Motor.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Motor.cpp	Sun Oct 19 07:51:25 2014 +0000
@@ -0,0 +1,42 @@
+#include "Motor.h"
+
+
+Motor::Motor(PinName pin1, PinName pin2) : pwm1(pin1), pwm2(pin2)
+{
+    const float period = 1/20000.0f;
+    
+    pwm1.period(period);
+    pwm2.period(period);
+    
+    pwm1 = 0.0f;
+    pwm2 = 0.0f;
+}
+
+
+void Motor::speed(float value)
+{
+    if (value < 0.0f)
+    {
+        pwm1 = value;
+        pwm2 = 0.0f;
+    }
+    else
+    {
+        pwm1 = 0.0f;
+        pwm2 = -value;
+    }
+}
+
+
+Motor& Motor::operator=(float value)
+{
+    speed(value);
+    return *this;
+}
+
+
+void Motor::brake()
+{
+    pwm1 = 1.0f;
+    pwm2 = 1.0f;
+}

diff -r 000000000000 -r 0d650a332dcc Motor.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Motor.h	Sun Oct 19 07:51:25 2014 +0000
@@ -0,0 +1,20 @@
+#ifndef MOTOR_H
+#define MOTOR_H
+
+#include "mbed.h"
+
+
+class Motor
+{
+public:
+    Motor(PinName pin1, PinName pin2);
+    void speed(float value);
+    Motor& operator=(float value);
+    void brake();
+    
+private:
+    PwmOut pwm1;
+    PwmOut pwm2;
+};
+
+#endif // MOTOR_H
\ No newline at end of file