Diff: AP1017.cpp

Revision:

12:bebb667c182f

Parent:

11:ac867fa4aa10

--- a/AP1017.cpp	Tue May 01 21:28:57 2018 +0000
+++ b/AP1017.cpp	Fri May 04 19:01:41 2018 +0000
@@ -30,37 +30,31 @@
         case DIRECTION_CW:                              // direction = 0x00
             if(isMotorOn())
             {
-                MSG("#Error: Cannot change direction while motor is running.\r\n");
                 return ERROR_MOTORON;
             }else
             {
                 inA->write(1);
                 inB->write(0);
-                MSG("#Direction: CCW\r\n");
             }
             break;
         case DIRECTION_CCW:                                 // direction = 0x01
             if(isMotorOn())
             {
-                MSG("#Error: Cannot change direction while motor is running.\r\n");
                 return ERROR_MOTORON;
             }else
             {
                 inA->write(0);
                 inB->write(1);
-                MSG("#Direction: CW\r\n");
             }
             break;
         case DIRECTION_BRAKE:                              // direction = 0x03
             inA->write(1);
             inB->write(1);
-            MSG("#Direction: Brake\r\n");
             break;
         case DIRECTION_COAST:                              // direction = 0x04
             inA->write(0);
             inB->write(0);
             motorOn = false;
-            MSG("#Direction: Coast\r\n");
             break;
         default:
             return ERROR_DIRECTION;
@@ -72,23 +66,6 @@
 
 AP1017::Rotation AP1017::getDirection(void)
 {
-    MSG("#Direction: ");
-    switch(direction){
-        case DIRECTION_CW:
-            MSG("CW\r\n");
-            break;
-        case DIRECTION_CCW:
-            MSG("CCW\r\n");
-            break;
-        case DIRECTION_COAST:
-            MSG("Coast\r\n");
-            break;
-        case DIRECTION_BRAKE:
-            MSG("Brake\r\n");
-            break;
-        default:
-            MSG("Error: Invalid direction\r\n");
-    }
     return direction;
 }
 
@@ -100,8 +77,7 @@
         dutyCycle = dc/100.0;
 
         if(motorOn == true){
-            MSG("Speed setting not yet implemented.\r\n");
-            //MSG("#Changed running motor speed: %.1f%%.\r\n", dc);
+            return ERROR_MOTORON;
         }
     }
     else
@@ -116,7 +92,6 @@
 
 double AP1017::getSpeed(void)
 {
-    MSG("Speed: %.1f%%\r\n.", dutyCycle*100.0);
     return dutyCycle*100.0;
 }
 
@@ -124,7 +99,7 @@
 AP1017::Status AP1017::start(void)
 {
     en->write(1);
-    motorOn = true;                         // Set ON flag
+    motorOn = true;     // Set ON flag
 
     return SUCCESS;
 }