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Dependencies:   mbed

Fork of IEEE_14_Freescale by IEEE 2014 Mbed

motor.cpp

Committer:
soonerbot
Date:
2013-11-17
Revision:
1:c28fac16a109

File content as of revision 1:c28fac16a109:

#include "motor.h"

motor::motor(PinName APin,PinName BPin, PinName PWMPin) :
        OutA(APin), OutB(BPin), OutPWM(PWMPin){
        
    //blah
    brake();
    reversed=0;
}

int motor::brake(){
    OutA=OutB=0;
    OutPWM=1;
    return 1;
}

int motor::setPower( double power) {
    if((power>=0)^reversed){
        OutA=1;
        OutB=0;
    } else {
        OutA=0;
        OutB=1;
    }
    OutPWM=abs(power);
    return 1;
}

int motor::setReversed(int state){
    if(state!=0){
        reversed=1;
    } else {
        reversed=0;
    }
    return 1;
}


simpleMotor::simpleMotor(PinName APin, PinName PWMPin) :
        OutA(APin), OutPWM(PWMPin){
        
    //blah
    setPower(0);
    reversed=0;
}

int simpleMotor::setPower( double power) {
    if((power>=0)^reversed){
        OutA=1;
    } else {
        OutA=0;
    }
    OutPWM=abs(power);
    currPower=power;
    return 1;
}

int simpleMotor::setReversed(int state){
    if(state!=0){
        reversed=1;
    } else {
        reversed=0;
    }
    return 1;
}