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Dependencies:   mbed

Fork of IEEE_14_Freescale by IEEE 2014 Mbed

remoteMotor.cpp@1:c28fac16a109, 2013-11-17 (annotated)

Committer:
soonerbot
Date:
Sun Nov 17 03:05:35 2013 +0000
Revision:
1:c28fac16a109
Child:
4:adc885f4ab75
Added encoder direction settings and setup motors and encoders

Who changed what in which revision?

UserRevisionLine numberNew contents of line
soonerbot 1:c28fac16a109 1 #include "remoteMotor.h"
soonerbot 1:c28fac16a109 2 #include "dbgprint.h"
soonerbot 1:c28fac16a109 3
soonerbot 1:c28fac16a109 4 remoteMotor::remoteMotor(remoteEnc &remoteIn, int APin,int BPin, PinName PWMPin) :
soonerbot 1:c28fac16a109 5 remote(remoteIn), OutPWM(PWMPin){
soonerbot 1:c28fac16a109 6
soonerbot 1:c28fac16a109 7 //blah
soonerbot 1:c28fac16a109 8 remoteA=APin;
soonerbot 1:c28fac16a109 9 remoteB=BPin;
soonerbot 1:c28fac16a109 10
soonerbot 1:c28fac16a109 11 brake();
soonerbot 1:c28fac16a109 12 reversed=0;
soonerbot 1:c28fac16a109 13 }
soonerbot 1:c28fac16a109 14
soonerbot 1:c28fac16a109 15 int remoteMotor::brake(){
soonerbot 1:c28fac16a109 16 remote.setPin(remoteA,0);
soonerbot 1:c28fac16a109 17 remote.setPin(remoteB,0);
soonerbot 1:c28fac16a109 18 //OutA=OutB=0;
soonerbot 1:c28fac16a109 19 OutPWM=1;
soonerbot 1:c28fac16a109 20 return 1;
soonerbot 1:c28fac16a109 21 }
soonerbot 1:c28fac16a109 22
soonerbot 1:c28fac16a109 23 int remoteMotor::setPower( double power) {
soonerbot 1:c28fac16a109 24 if((power>=0)^reversed){
soonerbot 1:c28fac16a109 25 remote.setPin(remoteA,1);
soonerbot 1:c28fac16a109 26 remote.setPin(remoteB,0);
soonerbot 1:c28fac16a109 27 //OutA=1;
soonerbot 1:c28fac16a109 28 //OutB=0;
soonerbot 1:c28fac16a109 29 } else {
soonerbot 1:c28fac16a109 30 remote.setPin(remoteA,0);
soonerbot 1:c28fac16a109 31 remote.setPin(remoteB,1);
soonerbot 1:c28fac16a109 32 //OutA=0;
soonerbot 1:c28fac16a109 33 //OutB=1;
soonerbot 1:c28fac16a109 34 }
soonerbot 1:c28fac16a109 35 OutPWM=abs(power);
soonerbot 1:c28fac16a109 36 return 1;
soonerbot 1:c28fac16a109 37 }
soonerbot 1:c28fac16a109 38
soonerbot 1:c28fac16a109 39 int remoteMotor::setReversed(int state){
soonerbot 1:c28fac16a109 40 if(state!=0){
soonerbot 1:c28fac16a109 41 reversed=1;
soonerbot 1:c28fac16a109 42 } else {
soonerbot 1:c28fac16a109 43 reversed=0;
soonerbot 1:c28fac16a109 44 }
soonerbot 1:c28fac16a109 45 return 1;
soonerbot 1:c28fac16a109 46 }
soonerbot 1:c28fac16a109 47
soonerbot 1:c28fac16a109 48
soonerbot 1:c28fac16a109 49 simpleRemoteMotor::simpleRemoteMotor(remoteEnc &remotedev, int remotepinin, PinName PWMPin) :
soonerbot 1:c28fac16a109 50 remote(remotedev), OutPWM(PWMPin){
soonerbot 1:c28fac16a109 51
soonerbot 1:c28fac16a109 52 DBGPRINT("bbbhal",1);
soonerbot 1:c28fac16a109 53 remotepin=remotepinin;
soonerbot 1:c28fac16a109 54 //blah
soonerbot 1:c28fac16a109 55 setPower(0);
soonerbot 1:c28fac16a109 56 reversed=0;
soonerbot 1:c28fac16a109 57 }
soonerbot 1:c28fac16a109 58
soonerbot 1:c28fac16a109 59 int simpleRemoteMotor::setPower( double power) {
soonerbot 1:c28fac16a109 60 if((power>=0)^reversed){
soonerbot 1:c28fac16a109 61 remote.setPin(remotepin,1);
soonerbot 1:c28fac16a109 62 } else {
soonerbot 1:c28fac16a109 63 remote.setPin(remotepin,0);
soonerbot 1:c28fac16a109 64 }
soonerbot 1:c28fac16a109 65 OutPWM=abs(power);
soonerbot 1:c28fac16a109 66 currPower=power;
soonerbot 1:c28fac16a109 67 return 1;
soonerbot 1:c28fac16a109 68 }
soonerbot 1:c28fac16a109 69
soonerbot 1:c28fac16a109 70 int simpleRemoteMotor::setReversed(int state){
soonerbot 1:c28fac16a109 71 if(state!=0){
soonerbot 1:c28fac16a109 72 reversed=1;
soonerbot 1:c28fac16a109 73 } else {
soonerbot 1:c28fac16a109 74 reversed=0;
soonerbot 1:c28fac16a109 75 }
soonerbot 1:c28fac16a109 76 return 1;
soonerbot 1:c28fac16a109 77 }