takuya ichise / AF_TB6612FNG

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Files at this revision

API Documentation at this revision

Revision 2:d6cb78f523b0, committed 2018-06-04

Comitter:
tichise
Date:
Mon Jun 04 00:43:00 2018 +0000
Parent:
1:47e5a7b22c0f
Commit message:
refactoring

Changed in this revision

AF_TB6612FNG.cpp Show annotated file Show diff for this revision Revisions of this file
AF_TB6612FNG.h Show annotated file Show diff for this revision Revisions of this file 
--- a/AF_TB6612FNG.cpp	Mon Jun 04 00:36:29 2018 +0000
+++ b/AF_TB6612FNG.cpp	Mon Jun 04 00:43:00 2018 +0000
@@ -11,6 +11,7 @@
 {
     _motorL = 0;
     _motorR = 0;
+    _isForward = false;
 }
 
 void AF_TB6612FNG::forward(float speed)
@@ -20,27 +21,25 @@
     _isForward = true;
 }
 
-void AF_TB6612FNG::back(float speed)
+void AF_TB6612FNG::backward(float speed)
 {
     _motorL = -1*speed;
     _motorR = -1*speed;
-    _isForward = true;
+    _isForward = false;
 }
 
 void AF_TB6612FNG::left(float speed)
 {
     _motorL = -1*speed;
     _motorR = speed;
+    _isForward = false;
 }
 
 void AF_TB6612FNG::right(float speed)
 {
     _motorL = speed;
     _motorR = -1*speed;
-}
-
-void  AF_TB6612FNG::setISForward(bool isForward) {
-    _isForward = isForward;
+    _isForward = false;
 }
 
 bool AF_TB6612FNG::isForward() {

--- a/AF_TB6612FNG.h	Mon Jun 04 00:36:29 2018 +0000
+++ b/AF_TB6612FNG.h	Mon Jun 04 00:43:00 2018 +0000
@@ -10,11 +10,10 @@
     AF_TB6612FNG(PinName pwma, PinName ain1, PinName ain2, PinName pwmb, PinName bin1, PinName bin2, PinName standby);
     void stop();
     void forward(float speed);
-    void back(float speed);
+    void backward(float speed);
     void left(float speed);
     void right(float speed);
     bool isForward();
-    void setISForward(bool isForward);
 
 private:
     Moter _motorL;