zhouhang shao
/
test
test
Diff: left_motor.cpp
- Revision:
- 6:9f698d1b2996
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/left_motor.cpp Sat May 13 19:42:23 2017 +0000 @@ -0,0 +1,32 @@ +#include "left_motor.h" +const int ONE_MILLISECOND = 0.001; +PwmOut motor_left_sig(PB_7); +DigitalOut dir_left(PB_6); + + +LeftMotor::LeftMotor() { + curr_speed = 0; + dir_left = 1; +} + +//Sets motor speed +void LeftMotor::speed(float speed) { + curr_speed = speed; + motor_left_sig.write(speed); +} + +void LeftMotor::inv_dir(bool dir){ + if(dir == 1) + dir_left = 1; + else + dir_left = 0; +} + +void LeftMotor::set_period(float period) { + motor_left_sig.period(period); +} + +//Sets motor speed to 0 +void LeftMotor::stop() { + speed(0); +} \ No newline at end of file