Stefan Krickl / Motor

Init

Dependents:   JetflyerMotorController

Motor.cpp@1:39b173360768, 2017-07-13 (annotated)

Committer:
skrickl
Date:
Thu Jul 13 13:42:32 2017 +0000
Revision:
1:39b173360768
Parent:
0:5eb2bad9ea40 
bla

Who changed what in which revision?

UserRevisionLine numberNew contents of line
skrickl 1:39b173360768 1 #include "Motor.h"
skrickl 1:39b173360768 2
skrickl 1:39b173360768 3
skrickl 1:39b173360768 4 Motor::Motor() : forward(pin_forward),backward(pin_backward),throttle(pin_pwm_motor)
skrickl 1:39b173360768 5 {
skrickl 1:39b173360768 6
skrickl 1:39b173360768 7 direction_old = 1;
skrickl 1:39b173360768 8 }
skrickl 1:39b173360768 9
skrickl 1:39b173360768 10 Motor::~Motor()
skrickl 1:39b173360768 11 {
skrickl 1:39b173360768 12
skrickl 1:39b173360768 13 }
skrickl 1:39b173360768 14
skrickl 1:39b173360768 15 //speed in percent
skrickl 1:39b173360768 16 int Motor::drive(int speed, int direction)
skrickl 1:39b173360768 17 {
skrickl 1:39b173360768 18 // if direction change is detected both pins are set to 0
skrickl 1:39b173360768 19 if(direction_old != direction)
skrickl 1:39b173360768 20 {
skrickl 1:39b173360768 21 backward =0;
skrickl 1:39b173360768 22 forward = 0;
skrickl 1:39b173360768 23 }
skrickl 1:39b173360768 24 else
skrickl 1:39b173360768 25 {
skrickl 1:39b173360768 26
skrickl 1:39b173360768 27 if(direction == 1)
skrickl 1:39b173360768 28 {
skrickl 1:39b173360768 29 backward =0;
skrickl 1:39b173360768 30 forward =1;
skrickl 1:39b173360768 31 }
skrickl 1:39b173360768 32 if(direction == -1)
skrickl 1:39b173360768 33 {
skrickl 1:39b173360768 34 backward =1;
skrickl 1:39b173360768 35 forward =0;
skrickl 1:39b173360768 36
skrickl 1:39b173360768 37 }
skrickl 1:39b173360768 38
skrickl 1:39b173360768 39 }
skrickl 1:39b173360768 40
skrickl 1:39b173360768 41 throttle.write(((float)speed)/100.0f);
skrickl 1:39b173360768 42 direction_old = direction;
skrickl 1:39b173360768 43 return 0;
skrickl 1:39b173360768 44 }