Diff: Steering.cpp

Revision:

1:787f4284d968

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Steering.cpp	Thu Jul 13 13:42:23 2017 +0000
@@ -0,0 +1,50 @@
+#include "Steering.h"
+
+Steering::Steering() : _pwm(PIN_PWM_STEERING), _dir(PIN_DIR_STEERING)
+{
+    _pwm.period_ms(20); //needs to be changed!!!
+    _currentAngle = 0;
+    _steerAngle = 0;
+}
+
+Steering::~Steering()
+{
+    
+}
+
+void Steering::setSteerAngle(int angle)
+{
+    if (angle > MAX_STEER_ANGLE) angle = MAX_STEER_ANGLE;
+    if (angle < MIN_STEER_ANGLE) angle = MIN_STEER_ANGLE;
+    _steerAngle = angle;
+}
+
+void Steering::addToSteerAngle(int angle)
+{
+    int sum = _steerAngle + angle;
+    setSteerAngle(sum);
+}
+
+int Steering::getSteerAngle()
+{
+    return _steerAngle;
+}
+
+int Steering::readCurrentAngle()
+{
+    _currentAngle = 5; //replace by reading the sensor
+    return _currentAngle;
+}
+
+int Steering::getCurrentAngle()
+{
+    return _currentAngle;
+}
+
+void Steering::turn(float percentage)
+{    
+    //write to motor -1 ,1 direction
+    _pwm.write(abs(percentage)/100.0);
+    if (percentage < 0) _dir.write(0);
+    else _dir.write(1);
+}
\ No newline at end of file