Sooner Competitive Robotics / Mbed 2 deprecated IEEE_14_Freescale

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Dependencies:   mbed

Fork of IEEE_14_Freescale by IEEE 2014 Mbed

Diff: remoteMotor.cpp

Revision:
8:c23cd84befa2
Parent:
4:adc885f4ab75
--- a/remoteMotor.cpp	Fri Nov 22 18:00:18 2013 +0000
+++ b/remoteMotor.cpp	Fri Nov 22 21:28:52 2013 +0000
@@ -1,23 +1,24 @@
 #include "remoteMotor.h"
 #include "dbgprint.h"
 
+//set everything up
 remoteMotor::remoteMotor(remoteEnc &remoteIn, int APin,int BPin, PinName PWMPin) :
         remote(remoteIn), OutPWM(PWMPin){
         
-    //blah
     remoteA=APin;
     remoteB=BPin;
     
+    //use a fast pwm signal, because we update it fast, and a slower pwm will lose signals
     OutPWM.period_us(100);
     
     brake();
     reversed=0;
 }
 
+//brakes both motors
 int remoteMotor::brake(){
     remote.setPin(remoteA,0);
     remote.setPin(remoteB,0);
-    //OutA=OutB=0;
     OutPWM=1;
     return 1;
 }
@@ -26,13 +27,9 @@
     if((power>=0)^reversed){
         remote.setPin(remoteA,1);
         remote.setPin(remoteB,0);
-        //OutA=1;
-        //OutB=0;
     } else {
         remote.setPin(remoteA,0);
         remote.setPin(remoteB,1);
-        //OutA=0;
-        //OutB=1;
     }
     OutPWM=abs(power);
     return 1;
@@ -53,7 +50,6 @@
         
     DBGPRINT("bbbhal",1);
     remotepin=remotepinin;
-    //blah
     setPower(0);
     reversed=0;
 }