Revision 2:91ea2963629a, committed 2017-10-23

Comitter:

tvlogman

Date:

Mon Oct 23 13:47:38 2017 +0000

Parent:

1:84cb991c4d28

Commit message:

Works now

Changed in this revision

--- a/motorConfig.cpp	Sun Oct 22 08:43:06 2017 +0000
+++ b/motorConfig.cpp	Mon Oct 23 13:47:38 2017 +0000
@@ -2,66 +2,35 @@
 #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;
+// Constructor
+motorConfig::motorConfig(PinName _directionPin, PinName _pwmPin):directionPin(_directionPin),pwmPin(_pwmPin){
     pwmPin.period(1.0/5000.0);
     directionPin = 0;
     }
 
+// Other member function definitions
 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 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;
-                case CALIBRATE:
-                    pwmPin.write(0.0);
-                    
-                    
-                    ledR = 1;
-                    ledG = 0;
-                    ledB = 0;
-                    
-                    break;
-            }
-    }
-
-void motorConfig::turnMotorOn(){
-    currentState = ACTIVE; 
+    // Set motor speed
+    if (fabs(motorValue)>1){ 
+        pwmPin = 1.0;
+        }
+    else {
+        pwmPin.write(fabs(motorValue) + 0.4);
+        }
+                          
     }
     
-void motorConfig::killSwitch(){
-    currentState = KILLED;
+void motorConfig::kill(){
+//    currentState = KILLED;
+    pwmPin.write(0.0);
+                
     }
\ No newline at end of file

--- a/motorConfig.h	Sun Oct 22 08:43:06 2017 +0000
+++ b/motorConfig.h	Mon Oct 23 13:47:38 2017 +0000
@@ -4,21 +4,14 @@
 #include "mbed.h"
 #include "FastPWM.h"
 
-enum robotStates {KILLED, ACTIVE, CALIBRATE};
-
 class motorConfig {
 public:
-    motorConfig(PinName, PinName, PinName, PinName, PinName);
-    robotStates currentState;
+    motorConfig(PinName, PinName);
     void setMotor(float motorValue);
     void turnMotorOn();
-    void killSwitch();
+    void kill();
     
-private:
-    DigitalOut ledG;
-    DigitalOut ledR;
-    DigitalOut ledB;
-    
+private:    
     DigitalOut directionPin; //D4
     PwmOut pwmPin; //D5
     };