Diff: remoteMotor.cpp

Revision:

1:c28fac16a109

Child:

4:adc885f4ab75

diff -r 3a3dd78038a6 -r c28fac16a109 remoteMotor.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/remoteMotor.cpp	Sun Nov 17 03:05:35 2013 +0000
@@ -0,0 +1,77 @@
+#include "remoteMotor.h"
+#include "dbgprint.h"
+
+remoteMotor::remoteMotor(remoteEnc &remoteIn, int APin,int BPin, PinName PWMPin) :
+        remote(remoteIn), OutPWM(PWMPin){
+        
+    //blah
+    remoteA=APin;
+    remoteB=BPin;
+    
+    brake();
+    reversed=0;
+}
+
+int remoteMotor::brake(){
+    remote.setPin(remoteA,0);
+    remote.setPin(remoteB,0);
+    //OutA=OutB=0;
+    OutPWM=1;
+    return 1;
+}
+
+int remoteMotor::setPower( double power) {
+    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;
+}
+
+int remoteMotor::setReversed(int state){
+    if(state!=0){
+        reversed=1;
+    } else {
+        reversed=0;
+    }
+    return 1;
+}
+
+
+simpleRemoteMotor::simpleRemoteMotor(remoteEnc &remotedev, int remotepinin, PinName PWMPin) :
+        remote(remotedev), OutPWM(PWMPin){
+        
+    DBGPRINT("bbbhal",1);
+    remotepin=remotepinin;
+    //blah
+    setPower(0);
+    reversed=0;
+}
+
+int simpleRemoteMotor::setPower( double power) {
+    if((power>=0)^reversed){
+        remote.setPin(remotepin,1);
+    } else {
+        remote.setPin(remotepin,0);
+    }
+    OutPWM=abs(power);
+    currPower=power;
+    return 1;
+}
+
+int simpleRemoteMotor::setReversed(int state){
+    if(state!=0){
+        reversed=1;
+    } else {
+        reversed=0;
+    }
+    return 1;
+}
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