Diff: motorConfig.cpp

Revision:

0:131a76b8848a

Child:

1:84cb991c4d28

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/motorConfig.cpp	Tue Oct 17 09:51:50 2017 +0000
@@ -0,0 +1,58 @@
+#include "motorConfig.h"
+#include "mbed.h"
+#include "FastPWM.h"
+
+// Member function definitions
+motorConfig::motorConfig(PinName a, PinName b, PinName c, PinName d, PinName e):ledG(a),ledR(b),ledB(c),directionPin(e),pwmPin(d){
+    currentState = KILLED;
+    pwmPin.period(1.0/5000.0);
+    directionPin = 0;
+    }
+
+void motorConfig::setMotor(float motorValue){
+    switch(currentState){
+                case KILLED:
+                    pwmPin.write(0.0);
+                    // Set motor direction
+                    if (motorValue >=0){
+                        // corresponds to CW rotation of motor axle
+                        directionPin = 0;
+                        } else if(motorValue < 0){
+                        // corresponds to CCW rotation of motor axle
+                        directionPin = 1;
+                        }
+                    ledR = 0;
+                    ledG = 1;
+                    ledB = 1;
+                    break;
+                case ACTIVE:
+                    // Set motor direction
+                    if (motorValue >=0){
+                        // corresponds to CW rotation of motor axle
+                        directionPin.write(0);
+                        } else if(motorValue < 0){
+                        // corresponds to CCW rotation of motor axle
+                        directionPin.write(1);
+                        }
+                        
+                    // Set motor speed
+                    if (fabs(motorValue)>1){ 
+                        pwmPin = 1.0;
+                        }
+                    else {
+                        pwmPin.write(fabs(motorValue) + 0.4);
+                        }
+                    ledR = 1;
+                    ledG = 1;
+                    ledB = 0;      
+                    break;
+            }
+    }
+
+void motorConfig::turnMotorOn(){
+    currentState = ACTIVE; 
+    }
+    
+void motorConfig::killSwitch(){
+    currentState = KILLED;
+    }
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