Stefan Krickl / Motor

Init

Dependents:   JetflyerMotorController

Motor.cpp

Committer:
skrickl
Date:
2017-07-13
Revision:
1:39b173360768
Parent:
0:5eb2bad9ea40

File content as of revision 1:39b173360768:

#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;
    }