Diff: motors.cpp

Revision:

0:7a97ebb833eb

diff -r 000000000000 -r 7a97ebb833eb motors.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/motors.cpp	Sun May 05 00:02:11 2019 +0000
@@ -0,0 +1,66 @@
+#include "motors.h"
+#include "mbed.h"
+#include "pins.h"
+
+PwmOut m_RF(MOTOR_RF);
+PwmOut m_RB(MOTOR_RB);
+PwmOut m_LF(MOTOR_LF);
+PwmOut m_LB(MOTOR_LB);
+
+/***
+ * Assignment 2
+ * 
+ * Add logic to set the PWM based on postiive/negative number.
+ ***/
+
+void Motors::setMotorPwm(int motor, float pwm) {
+    if (abs(pwm) > MAX_SPEED) {
+        if (pwm > 0) pwm = MAX_SPEED;
+        else if (pwm < 0) pwm = -MAX_SPEED;
+    }
+    else if (abs(pwm) < MIN_SPEED) {
+        if (pwm > 0) pwm = MIN_SPEED;
+        else if (pwm < 0) pwm = -MIN_SPEED;
+    }
+    
+    // Use the "PwmOut" objects defined above
+    // Hint: Stop your backwards/forward motor before going forward/backwards.
+    if (pwm > 0) {
+        if (motor == RIGHT_MOTOR) {
+            m_RB = 0.f;
+            m_RF = pwm;
+        } else {
+            m_LB = 0.f;
+            m_LF = pwm;
+        }
+    } else {
+        if (motor == RIGHT_MOTOR) {
+            m_RF = 0.f;
+            m_RB = abs(pwm);
+        } else {
+            m_LF = 0.f;
+            m_LB = abs(pwm);
+        }
+    }
+}
+
+Motors::Motors() {
+    // DO NOT initialize PWM!!! It breaks the mouse.
+}
+
+void Motors::stop() {
+    setRightPwm(0);
+    setLeftPwm(0);   
+}
+
+void Motors::setRightPwm(float pwm) {
+    m_rpwm = pwm;
+    setMotorPwm(RIGHT_MOTOR, pwm);
+}
+
+void Motors::setLeftPwm(float pwm) {
+    m_lpwm = pwm;
+    setMotorPwm(LEFT_MOTOR, pwm);
+}
+
+