Diff: AP1017.cpp

Revision:

11:ac867fa4aa10

Parent:

10:16d45e3f4be3

Child:

12:bebb667c182f

--- a/AP1017.cpp	Wed Nov 08 21:37:24 2017 +0000
+++ b/AP1017.cpp	Tue May 01 21:28:57 2018 +0000
@@ -3,27 +3,21 @@
 /******************** Constructors & Destructors ****************************/
 
 // Default constructor
-AP1017::AP1017(DigitalOut* A, DigitalOut* B, I2C* M) : motorOn(false), dutyCycle(0.0)
+AP1017::AP1017(DigitalOut* InputA, DigitalOut* InputB, DigitalOut* Enable) : motorOn(false), dutyCycle(0.0)
 {
-     i2cMotor = M;
-     inA = A;
-     inB = B;
-     
-     // Instantiate TCA9554A
-     motor = new TCA9554A(i2cMotor, TCA9554A::SLAVE_ADDRESS_38H);  // 38H->Port 0->RSV
+     inA = InputA;
+     inB = InputB;
+     en = Enable;
      
      // Initialize RSV as output
-     if (motor->configurePort(TCA9554A::PORT_0, TCA9554A::DIR_OUTPUT)!= TCA9554A::SUCCESS) {
-         MSG("#AP1017: Error configuring TCA9554A port.\r\n");
-     }
-     motor->setPortLevel(TCA9554A::PORT_0, TCA9554A::LOW);  // Turn motor off
+     en->write(0);  // Turn motor off
 }
 
 // Default destructor
 AP1017::~AP1017(void)
 {
     stop();
-    delete inA, inB, motor, i2cMotor;
+    delete inA, inB, en;
 }
 
 /*********************** Member Functions ***********************************/
@@ -99,7 +93,7 @@
 }
 
 
-AP1017::Status AP1017::setSpeed(float dc)
+AP1017::Status AP1017::setSpeed(double dc)
 {
     if((dc <= 100.0) && (dc >= 0.0))
     {
@@ -120,7 +114,7 @@
 }
 
 
-float AP1017::getSpeed(void)
+double AP1017::getSpeed(void)
 {
     MSG("Speed: %.1f%%\r\n.", dutyCycle*100.0);
     return dutyCycle*100.0;
@@ -129,7 +123,7 @@
 
 AP1017::Status AP1017::start(void)
 {
-    motor->setPortLevel(TCA9554A::PORT_0, TCA9554A::HIGH);        // set RSV high
+    en->write(1);
     motorOn = true;                         // Set ON flag
 
     return SUCCESS;
@@ -138,7 +132,7 @@
 
 AP1017::Status AP1017::stop(void)
 {
-    motor->setPortLevel(TCA9554A::PORT_0, TCA9554A::LOW);        // set RSV low
+    en->write(0);        // set RSV low
     motorOn = false;                        // Set OFF flag
 
     return SUCCESS;