Revision 1:39b173360768, committed 2017-07-13

Comitter:

skrickl

Date:

Thu Jul 13 13:42:32 2017 +0000

Parent:

0:5eb2bad9ea40

Commit message:

bla

Changed in this revision

diff -r 5eb2bad9ea40 -r 39b173360768 Motor.cpp
--- 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

diff -r 5eb2bad9ea40 -r 39b173360768 Motor.h
--- a/Motor.h	Mon Jun 12 19:58:20 2017 +0000
+++ b/Motor.h	Thu Jul 13 13:42:32 2017 +0000
@@ -0,0 +1,34 @@
+#include "mbed.h"
+
+
+#ifndef MOTOR_H
+#define MOTOR_H
+
+#define pin_forward p29
+#define pin_backward p30
+#define pin_pwm_motor p23
+
+
+
+
+class Motor
+{
+    public:
+    Motor();
+    ~Motor();
+    
+    DigitalOut forward;
+    DigitalOut backward;
+    AnalogOut  throttle;
+     
+    int drive(int speed, int direction);
+    
+    
+    private:
+    
+    int direction_old;
+  
+    
+};
+
+#endif
\ No newline at end of file