Diff: thruster.cpp

Revision:

4:d32183587460

Parent:

3:02a9d402226d

Child:

5:e0c525588568

--- a/thruster.cpp	Tue Nov 24 13:22:47 2020 +0000
+++ b/thruster.cpp	Fri Apr 09 11:38:56 2021 +0000
@@ -8,6 +8,7 @@
  * 
  */
 
+#include "mbed.h"
 #include "thruster.h"
 
 //Instantiation accepts PWM pin and direction of prop blade
@@ -20,7 +21,7 @@
     set_pw(_base_pw);   // set PWM to 1.5ms
     _period=2.5;        // 2.5ms
     set_period(_period); // set period to 2.5ms (400Hz)
-    _max=150;           // max PWM value
+    _max=150;           // max PWM value in us
     //printf("Thruster: %f\r\n",d);
 }
 
@@ -65,7 +66,7 @@
 
 //formats PWM as an 2 uint16_t joined to make uint32_t for serial data streaming
 //MSB uint16_t indicates direction, 0 for positive, 1 for negative.
-//LSB uint16_t is 10ms resolution of PWM
+//LSB uint16_t is 10us resolution of PWM
 uint32_t Thruster::thruster_data() {
     double speed=get_speed();
     uint32_t dir=0x0;
@@ -76,18 +77,20 @@
     return data;
 }
 
-//Accepts adjustment to max value of pw [x,500] ms for set_speed() function.
+//Accepts adjustment to max value of pw [x,500] us for set_speed() function.
 //Returns 1 if successful.
-int Thruster::set_max(double new_max) {
-    int returnval=0;
-    if (new_max<500) {
+void Thruster::set_max(int new_max) {
+    if (new_max<=500) {
         _max=new_max;
-        returnval=1;
     }
-    return returnval;
 }
 
-//Accepts adjustment to pw [-500,500] ms that is added to 1.5ms.
+int Thruster::get_max() {
+    int buffer = _max;
+    return buffer;
+}
+
+//Accepts adjustment to pw [-500,500] us that is added to 1.5ms.
 //Returns 1 if successful.
 int Thruster::set_speed(double speed_pw) {
     int returnval = 0;