File content as of revision 3:61733f7f1fea:

#include "Movement.h"
#include "mbed.h"

float movement_left, movement_right;

Movement::Movement(void)
{
    
}

int Movement::getdirectionLeft(int mode){
    int directionL;
    if(mode==1 || mode==2){
        directionL = 1;
    }
    else if (mode==4 || mode==5){
        directionL = -1;
    }
    else{
        directionL = 0;
    }
    return directionL;
}

int Movement::getdirectionRight(int mode){
    int directionR;
    if(mode==1 || mode==5){
        directionR = 1;
    }
    else if (mode==2 || mode==4){
        directionR = -1;
    }
    else{
        directionR = 0;
    }
    return directionR;
}


float Movement::getpositionLeft(int SignalNumber, int mode, float max_range){
    static float positionLeft;                   //Define a position array
    int directionLeft = getdirectionLeft(mode);
    float position_math_left;
    switch(SignalNumber){
        case 1: //Move slowest
            movement_left = directionLeft*0.25;
            position_math_left = positionLeft + movement_left;
            if (position_math_left >= max_range || position_math_left <=0){
                positionLeft = positionLeft;
            }
            else{
                positionLeft += movement_left;
            }
            break;
        case 2: //Move slow
            movement_left = directionLeft *1;
            position_math_left = positionLeft + movement_left;
            if (position_math_left >= max_range || position_math_left <=0){
                positionLeft = positionLeft;
            }
            else{
                positionLeft += movement_left;
            }
            break;
        default : //if something is wrong or no muscles are flexed, standstill
            positionLeft = positionLeft;
            break; 
    }
    return positionLeft;
}

float Movement::getpositionRight(int SignalNumber, int mode, float max_range){
    static float positionRight;                   //Define a position array
    int directionRight = getdirectionRight(mode);
    float position_math_right;
    switch(SignalNumber){
        case 1: //Move slowest
            movement_right = directionRight*0.25;
            position_math_right = positionRight + movement_right;
            if (position_math_right >= max_range || position_math_right <=0){
                positionRight = positionRight;
            }
            else{
                positionRight += movement_right;
            }
            break;
        case 2: //Move slow
            movement_right = directionRight *1;
            position_math_right = positionRight + movement_right;
            if (position_math_right >= max_range || position_math_right <=0){
                positionRight = positionRight;
            }
            else{
                positionRight += movement_right;
            }
            break;
        default : //if something is wrong or no muscles are flexed, standstill
            positionRight = positionRight;
            break; 
    }
    return positionRight;
}


/*

int * Movement::getdirection(int mode){
//int *getdirection(int direction[2]){
    static int direction[2];
    if(mode==1){
        direction[0]=1;
        direction[1]=1;
    }
    else if(mode==2){
        direction[0]=1;
        direction[1]=-1;
    }
    else if(mode==3){
        direction[0]=0;
        direction[1]=0;
    }
    else if(mode==4){
        direction[0]=-1;
        direction[1]=-1;
    }           
    else if(mode==5){
        direction[0]=-1;
        direction[1]=1;
    }
    else if(mode==6){
        direction[0]=0;
        direction[1]=0;
    }
    else{
        //Error, unavailable mode
    }
    return direction;
}
*/