Diff: motor.cpp

Revision:

2:b78dfa2afe92

Child:

6:9f698d1b2996

diff -r 11970e541ecf -r b78dfa2afe92 motor.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/motor.cpp	Sat May 06 23:10:06 2017 +0000
@@ -0,0 +1,31 @@
+#include "motor.h"
+const int FORWARD = 1;
+const int BACKWARD = 0;
+const int ONE_MILLISECOND = 0.001;
+
+Motor::Motor(PinName _pwm_pin, PinName _dir):
+        pwm_pin(_pwm_pin), dir(_dir){
+    pwm_pin.period(ONE_MILLISECOND);
+    pwm_pin = 0; 
+    dir = 0;
+    curr_speed = 0;
+}
+
+//Sets motor speed
+void Motor::speed(float speed) {
+    if (speed < 0.0f){ //Backwards
+        if (speed < -1.0f){
+            speed = -1.0f;
+        }
+        dir = FORWARD;
+        pwm_pin = curr_speed = speed + 1.0f; // Inverts it so 1 is off and 0 is on
+    } else { //Forwards   
+        dir = BACKWARD;
+        pwm_pin = curr_speed = speed;
+    }
+}
+
+//Sets motor speed to 0
+void Motor::stop() {
+    speed(0);
+}
\ No newline at end of file