Dave Lu / FYDP_Final2

Only imu output

Dependencies:   Servo mbed

Fork of FYDP_Final2 by Mark Vandermeulen

Diff: motors/motors.cpp

Revision:
0:21019d94ad33
diff -r 000000000000 -r 21019d94ad33 motors/motors.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/motors/motors.cpp	Sat Mar 21 21:31:29 2015 +0000
@@ -0,0 +1,27 @@
+#include "motors.h"
+
+Motors::Motors(TB6612 * L, TB6612 * R, PinName STBY):
+    Left(L), Right(R), enable(STBY)
+{
+    enable = 1;
+}
+
+void Motors::flip()
+{
+    TB6612 * temp = Left;
+    Left = Right;
+    Right = temp;
+
+    Left->scale *= -1;
+    Right->scale *= -1;              
+}    
+void Motors::reverse(bool m)
+{
+    if(m)
+        Right->scale *= -1; //reverse right motor
+    else
+        Left->scale *= -1;  //reverse left motor
+}
+
+//TODO: write in a function that automatically sets the motors to be oriented properly. Use the
+//gyroscopes and accelerometer to do this.
\ No newline at end of file