Diff: AP1017.cpp

Revision:

9:1ca7d16de1c4

Parent:

8:bc70a421ef4c

Child:

10:16d45e3f4be3

diff -r bc70a421ef4c -r 1ca7d16de1c4 AP1017.cpp
--- a/AP1017.cpp	Wed May 03 18:55:18 2017 +0000
+++ b/AP1017.cpp	Fri May 19 23:09:27 2017 +0000
@@ -1,23 +1,15 @@
 #include "AP1017.h"
 #include "debug.h"
 
-#define I2C_SPEED   400000
-
 /******************** Constructors & Destructors ****************************/
 
 // Default constructor
-AP1017::AP1017(void) : motorOn(false), dutyCycle(0.0)
+AP1017::AP1017(DigitalOut* A, DigitalOut* B, I2C* M) : motorOn(false), dutyCycle(0.0)
 {
-    // TODO: Move pin assignments to Ap1017Ctrl and pass references here
-    
-    //motor = new PwmOut(P0_10);
-    inA = new DigitalOut(P0_11);
-    inB = new DigitalOut(P0_9);
-    
-    // Instantiate I2C
-     i2cMotor = new I2C(I2C_SDA0, I2C_SCL0);
-     i2cMotor->frequency(I2C_SPEED);
-
+     i2cMotor = M;
+     inA = A;
+     inB = B;
+     
      // Instantiate TCA9554A
      motor = new TCA9554A(i2cMotor, TCA9554A::SLAVE_ADDRESS_38H);  // 38H->Port 0->RSV
      
@@ -93,16 +85,16 @@
 
 AP1017::Status AP1017::setSpeed(float dc)
 {
-    if((dc <= 100.0) && (dc >= 0.0)){
+    if((dc <= 100.0) && (dc >= 0.0))
+    {
         dutyCycle = dc/100.0;
-        MSG("#AP1017.cpp: dutyCycle = %.1f%%\r\n", dc);
 
         if(motorOn == true){
-            //TODO
             MSG("#AP1017.cpp: Changed running motor speed.\r\n");
         }
     }
-    else{
+    else
+    {
         dutyCycle = 0.0;
 
         return ERROR_DUTY_CYCLE;
@@ -114,7 +106,6 @@
 
 float AP1017::getSpeed(void)
 {
-    MSG("#AP1017.cpp: Speed = %.1f%%\r\n", dutyCycle);
     return dutyCycle*100.0;
 }
 
@@ -122,7 +113,6 @@
 AP1017::Status AP1017::start(void)
 {
     motor->setPortLevel(TCA9554A::PORT_0, TCA9554A::HIGH);        // set RSV high
-    MSG("#AP1017.cpp: Motor: ON\r\n");
     motorOn = true;                         // Set ON flag
 
     return SUCCESS;
@@ -132,7 +122,6 @@
 AP1017::Status AP1017::stop(void)
 {
     motor->setPortLevel(TCA9554A::PORT_0, TCA9554A::LOW);        // set RSV low
-    MSG("#AP1017.cpp: Motor: OFF\r\n");
     motorOn = false;                        // Set OFF flag
 
     return SUCCESS;
@@ -141,14 +130,12 @@
 AP1017::Status  AP1017::brake(void)
 {
     setDirection(DIRECTION_BRAKE);
-    MSG("#AP1017.cpp: Motor: BRAKE\r\n");
     return SUCCESS;
 }
 
 AP1017::Status  AP1017::coast(void)
 {
     setDirection(DIRECTION_COAST);
-    MSG("#AP1017.cpp: Motor: COAST\r\n");
     return SUCCESS;
 }