Sooner Competitive Robotics
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IEEE_14_Freescale
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IEEE_14_Freescale
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IEEE 2014 Mbed
motor.cpp@1:c28fac16a109, 2013-11-17 (annotated)
- Committer:
- soonerbot
- Date:
- Sun Nov 17 03:05:35 2013 +0000
- Revision:
- 1:c28fac16a109
Added encoder direction settings and setup motors and encoders
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| soonerbot | 1:c28fac16a109 | 1 | #include "motor.h" |
| soonerbot | 1:c28fac16a109 | 2 | |
| soonerbot | 1:c28fac16a109 | 3 | motor::motor(PinName APin,PinName BPin, PinName PWMPin) : |
| soonerbot | 1:c28fac16a109 | 4 | OutA(APin), OutB(BPin), OutPWM(PWMPin){ |
| soonerbot | 1:c28fac16a109 | 5 | |
| soonerbot | 1:c28fac16a109 | 6 | //blah |
| soonerbot | 1:c28fac16a109 | 7 | brake(); |
| soonerbot | 1:c28fac16a109 | 8 | reversed=0; |
| soonerbot | 1:c28fac16a109 | 9 | } |
| soonerbot | 1:c28fac16a109 | 10 | |
| soonerbot | 1:c28fac16a109 | 11 | int motor::brake(){ |
| soonerbot | 1:c28fac16a109 | 12 | OutA=OutB=0; |
| soonerbot | 1:c28fac16a109 | 13 | OutPWM=1; |
| soonerbot | 1:c28fac16a109 | 14 | return 1; |
| soonerbot | 1:c28fac16a109 | 15 | } |
| soonerbot | 1:c28fac16a109 | 16 | |
| soonerbot | 1:c28fac16a109 | 17 | int motor::setPower( double power) { |
| soonerbot | 1:c28fac16a109 | 18 | if((power>=0)^reversed){ |
| soonerbot | 1:c28fac16a109 | 19 | OutA=1; |
| soonerbot | 1:c28fac16a109 | 20 | OutB=0; |
| soonerbot | 1:c28fac16a109 | 21 | } else { |
| soonerbot | 1:c28fac16a109 | 22 | OutA=0; |
| soonerbot | 1:c28fac16a109 | 23 | OutB=1; |
| soonerbot | 1:c28fac16a109 | 24 | } |
| soonerbot | 1:c28fac16a109 | 25 | OutPWM=abs(power); |
| soonerbot | 1:c28fac16a109 | 26 | return 1; |
| soonerbot | 1:c28fac16a109 | 27 | } |
| soonerbot | 1:c28fac16a109 | 28 | |
| soonerbot | 1:c28fac16a109 | 29 | int motor::setReversed(int state){ |
| soonerbot | 1:c28fac16a109 | 30 | if(state!=0){ |
| soonerbot | 1:c28fac16a109 | 31 | reversed=1; |
| soonerbot | 1:c28fac16a109 | 32 | } else { |
| soonerbot | 1:c28fac16a109 | 33 | reversed=0; |
| soonerbot | 1:c28fac16a109 | 34 | } |
| soonerbot | 1:c28fac16a109 | 35 | return 1; |
| soonerbot | 1:c28fac16a109 | 36 | } |
| soonerbot | 1:c28fac16a109 | 37 | |
| soonerbot | 1:c28fac16a109 | 38 | |
| soonerbot | 1:c28fac16a109 | 39 | simpleMotor::simpleMotor(PinName APin, PinName PWMPin) : |
| soonerbot | 1:c28fac16a109 | 40 | OutA(APin), OutPWM(PWMPin){ |
| soonerbot | 1:c28fac16a109 | 41 | |
| soonerbot | 1:c28fac16a109 | 42 | //blah |
| soonerbot | 1:c28fac16a109 | 43 | setPower(0); |
| soonerbot | 1:c28fac16a109 | 44 | reversed=0; |
| soonerbot | 1:c28fac16a109 | 45 | } |
| soonerbot | 1:c28fac16a109 | 46 | |
| soonerbot | 1:c28fac16a109 | 47 | int simpleMotor::setPower( double power) { |
| soonerbot | 1:c28fac16a109 | 48 | if((power>=0)^reversed){ |
| soonerbot | 1:c28fac16a109 | 49 | OutA=1; |
| soonerbot | 1:c28fac16a109 | 50 | } else { |
| soonerbot | 1:c28fac16a109 | 51 | OutA=0; |
| soonerbot | 1:c28fac16a109 | 52 | } |
| soonerbot | 1:c28fac16a109 | 53 | OutPWM=abs(power); |
| soonerbot | 1:c28fac16a109 | 54 | currPower=power; |
| soonerbot | 1:c28fac16a109 | 55 | return 1; |
| soonerbot | 1:c28fac16a109 | 56 | } |
| soonerbot | 1:c28fac16a109 | 57 | |
| soonerbot | 1:c28fac16a109 | 58 | int simpleMotor::setReversed(int state){ |
| soonerbot | 1:c28fac16a109 | 59 | if(state!=0){ |
| soonerbot | 1:c28fac16a109 | 60 | reversed=1; |
| soonerbot | 1:c28fac16a109 | 61 | } else { |
| soonerbot | 1:c28fac16a109 | 62 | reversed=0; |
| soonerbot | 1:c28fac16a109 | 63 | } |
| soonerbot | 1:c28fac16a109 | 64 | return 1; |
| soonerbot | 1:c28fac16a109 | 65 | } |