hidaka sato / MotorControler

Simple motor controller library, using DIR, PWM, nSLP pin like pololu.

Diff: MotorControler.cpp

Revision:
1:ed3dfe4ecc8a
Parent:
0:e3207dd7809a
Child:
2:543ff0150de1
diff -r e3207dd7809a -r ed3dfe4ecc8a MotorControler.cpp
--- a/MotorControler.cpp	Wed Mar 04 03:53:06 2020 +0000
+++ b/MotorControler.cpp	Wed Mar 04 04:05:35 2020 +0000
@@ -3,6 +3,7 @@
 MotorControler::MotorControler(PinName DIR, PinName PWM, PinName SLP) : _DIR(DIR), _PWM(PWM), _nSLP(SLP)
 {
     _nSLP = 0;
+    reverse_direction = 0;
 }
 
 void MotorControler::enableDriver()
@@ -28,7 +29,7 @@
         speed = 1;
         
     _PWM = speed;
-    if (reverse ^ FLIP_MOTOR_DIR)
+    if (reverse ^ FLIP_MOTOR_DIR ^ reverse_direction)
     {
         _DIR = 1;
     }
@@ -36,4 +37,9 @@
     {
         _DIR = 0;
     }
+}
+
+void MotorControler::setMotorDirection(MotorDirection dir)
+{
+    reverse_direction = dir;
 }
\ No newline at end of file