Diff: Motor.cpp

Revision:

1:39b173360768

Parent:

0:5eb2bad9ea40

--- a/Motor.cpp	Mon Jun 12 19:58:20 2017 +0000
+++ b/Motor.cpp	Thu Jul 13 13:42:32 2017 +0000
@@ -0,0 +1,44 @@
+#include "Motor.h"
+
+
+Motor::Motor() : forward(pin_forward),backward(pin_backward),throttle(pin_pwm_motor)
+{
+    
+direction_old = 1;
+}
+
+Motor::~Motor()
+{
+    
+}
+
+//speed in percent
+  int Motor::drive(int speed, int direction)
+  {
+    // if direction change is detected both pins are set to 0
+        if(direction_old != direction)
+        {
+            backward =0;
+            forward = 0;
+        }
+        else
+        {
+        
+            if(direction == 1)
+            {
+                backward =0;
+                forward =1;
+            }
+            if(direction == -1)
+            {
+                backward =1;
+                forward =0;
+      
+            }
+      
+        }
+      
+      throttle.write(((float)speed)/100.0f);
+      direction_old  = direction;
+      return 0;
+    }
\ No newline at end of file