Diff: motorlib.cpp

Revision:

2:c1f9f9d74f35

Parent:

0:155daae8a9fa

--- a/motorlib.cpp	Tue Jan 15 13:33:21 2013 +0000
+++ b/motorlib.cpp	Sat Jan 26 15:00:23 2013 +0000
@@ -23,35 +23,82 @@
 #include "motorlib.h"
 #include "mbed.h"
 
-Motor::Motor(PinName r1, PinName r2, PinName r3, PinName r4):
-    _r1(r1), _r2(r2), _r3(r3), _r4(r4) {
+#ifdef LM293D_MOTOR_CTRL
+Motor::Motor(PinName r1, PinName r4, MCtrlType mctype):
+    _r1(r1), _r4(r4),_mctype(mctype)  {
+ 
+    _r1=0 ;_r4=0;
+ 
+}
 
-// Set initial condition for port outputs
-  _r1=1 ; _r2=1  ;_r3=1  ;_r4=1;
-
-}
 void Motor::coast(void)
 {
-   _r1=0 ; _r2=1  ;_r3=0;_r4=1;
-   
- 
+  if((_mctype == L293D_DISCRETE) || (_mctype == L293D_PWM)){
+    _r1=1 ;_r4=1;
+  }
 }
+
 void Motor::forward(void)
 {
-   _r1=0 ; _r2=0  ;_r3=1  ;_r4=1;
+  if(_mctype == L293D_PWM){
+    _r1=0 ;
+     for(float p = 0.0f; p < 1.0f; p += 0.1f) {
+        _r4 = p;
+        wait(0.1);
+      }      
+  }else if (_mctype == L293D_DISCRETE) {
+    _r1=0 ;_r4 = 1;
+  }
+
+}
+void Motor::backward(void)
+{
+  if (_mctype == L293D_PWM){
+    _r4=0 ;
+     for(float p = 0.0f; p < 1.0f; p += 0.1f) {
+        _r1 = p;
+        wait(0.1);
+      }      
+  }else if (_mctype == L293D_DISCRETE){
+    _r4=0 ;_r1 =1;
+  } 
+}
+
+void Motor::stop(void)
+{
+  _r1=1; _r4=1; 
+}
+
+#else 
+Motor::Motor(PinName r1, PinName r2, PinName r3, PinName r4, MCtrlType mctype):
+    _r1(r1), _r2(r2), _r3(r3), _r4(r4),_mctype(mctype)  {
+     _r1=1 ; _r2=1  ;_r3=1  ;_r4=1;
+}
+
+void Motor::coast(void)
+{
+  _r1=0 ; _r2=1  ;_r3=0;_r4=1;
+}
+
+void Motor::forward(void)
+{   
+  _r1=0 ; _r2=0  ;_r3=1  ;_r4=1;
  
 }
-//  (additions)
+
 void Motor::backward(void)
-{
+{ 
    _r1=1 ; _r2=1  ;_r3=0  ;_r4=0;
 }
 
 void Motor::stop(void)
 {
   _r1=1 ; _r2=1  ;_r3=1  ;_r4=1;
+
 }
  
+#endif
+ 
 /*
 //Test code for driving h-Bridge
 // Assume there are two motors connected to a chasis