File content as of revision 0:362c1482232c:

#include "Microduino_Motor.h"

static motor_t motors[10];                          // static array of key structures

uint8_t MotorCount = 0;                                     // the total number of attached keys

Motor::Motor(PinName _motor_pinA, PinName _motor_pinB)
{
    if ( MotorCount < 10) {
        this->motorIndex = MotorCount++;                    // assign a key index to this instance
        //if (_motor_pinA < NUM_DIGITAL_PINS && _motor_pinB < NUM_DIGITAL_PINS) {
        if (true) {
#if 0
            pinMode( _motor_pinA, OUTPUT) ;
#else
            _period_us = 255; // 500Hz
            pwmout_init(&_pwmA, _motor_pinA);
            pwmout_period_us(&_pwmA, _period_us); // 500Hz
            pwmout_pulsewidth_us(&_pwmA, 1);
#endif
            motors[this->motorIndex].Pin.nbr_A = _motor_pinA;

#if 0
            pinMode( _motor_pinB, OUTPUT) ;
#else
            pwmout_init(&_pwmB, _motor_pinB);
            pwmout_period_us(&_pwmB, _period_us); // 500Hz
            pwmout_pulsewidth_us(&_pwmB, 1);
#endif
            motors[this->motorIndex].Pin.nbr_B = _motor_pinB;

            this->fix=1;
        }
    } else {
        this->motorIndex = 255 ;  // too many keys
    }
}

void Motor::Fix(float _fix)
{
    this->fix=_fix;
}

int16_t Motor::GetData(int16_t _throttle, int16_t _steering, uint8_t _dir)
{
    this->_motor_vol = _throttle;

    if(_dir == 1)
    {
        this->_motor_vol -= _steering / 2;
    }
    else
    {
        this->_motor_vol += _steering / 2;
    }
    if (this->_motor_vol > 255)
        this->_motor_vol = 255;
    else if (this->_motor_vol < -255)
        this->_motor_vol = -255;

    //this->_motor_vol *= fix;

    return this->_motor_vol;
}

#if 0
void Motor::Driver(int16_t _motor_driver)
{
    int8_t channel_A = motors[this->motorIndex].Pin.nbr_A;
    int8_t channel_B = motors[this->motorIndex].Pin.nbr_B;
    if (_motor_driver == 0)   {
        digitalWrite(channel_A, LOW);
        digitalWrite(channel_B, LOW);
    } else if (_motor_driver > 0)   {
        analogWrite(channel_A, _motor_driver);
        digitalWrite(channel_B, LOW);
    } else  {
        analogWrite(channel_A, 255 + _motor_driver);
        digitalWrite(channel_B, HIGH);
    }
}
#else
void Motor::Driver(int16_t _motor_driver)
{
    //static bool flag = true;
    uint32_t pulseWidth = 0;
    //PinName channel_A = motors[this->motorIndex].Pin.nbr_A;
    //PinName channel_B = motors[this->motorIndex].Pin.nbr_B;
    #if 0
    pwmout_pulsewidth_us(&_pwmA, _period_us/2);
    pwmout_pulsewidth_us(&_pwmB, 0);
    return;
    #endif
    #if 0
    pwmout_pulsewidth_us(&_pwmA, 0);
    pwmout_pulsewidth_us(&_pwmB, _period_us/2);
    return;
    #endif
    if (_motor_driver == 0) {
        pwmout_pulsewidth_us(&_pwmA, 0);
        pwmout_pulsewidth_us(&_pwmB, 0);
    } else if (_motor_driver > 0) {
        #if 1
        pulseWidth = _period_us / 255 * _motor_driver;
        pwmout_pulsewidth_us(&_pwmA, pulseWidth);
        pwmout_pulsewidth_us(&_pwmB, 2);
        #else
        pwmout_pulsewidth_us(&_pwmA, _period_us/2);
        pwmout_pulsewidth_us(&_pwmB, 0);
        #endif
    } else {
        #if 0
        _motor_driver = 255 + _motor_driver;
        pulseWidth = _period_us / 255 * _motor_driver;
        pwmout_pulsewidth_us(&_pwmA, 0);
        pwmout_pulsewidth_us(&_pwmB, pulseWidth);
        #elif 1
        _motor_driver = abs(_motor_driver);
        pulseWidth = _period_us / 255 * _motor_driver;
        pwmout_pulsewidth_us(&_pwmA, 2);
        pwmout_pulsewidth_us(&_pwmB, pulseWidth);
        #elif 0
        _motor_driver = 255 + _motor_driver;
        pulseWidth = _period_us / 255 * _motor_driver;
        pwmout_pulsewidth_us(&_pwmA, _period_us);
        pwmout_pulsewidth_us(&_pwmB, pulseWidth);
        #else
        pwmout_pulsewidth_us(&_pwmA, 0);
        pwmout_pulsewidth_us(&_pwmB, 241);
        #endif
    }
}
#endif

void Motor::Free()
{
    int8_t channel_A = motors[this->motorIndex].Pin.nbr_A;
    int8_t channel_B = motors[this->motorIndex].Pin.nbr_B;
#if 0
    digitalWrite(channel_A, LOW);
    digitalWrite(channel_B, LOW);
#else
    pwmout_pulsewidth_us(&_pwmA, 0);
    pwmout_pulsewidth_us(&_pwmB, 0);
#endif
}

void Motor::Brake()
{
    int8_t channel_A = motors[this->motorIndex].Pin.nbr_A;
    int8_t channel_B = motors[this->motorIndex].Pin.nbr_B;
#if 0
    digitalWrite(channel_A, HIGH);
    digitalWrite(channel_B, HIGH);
#else
    pwmout_pulsewidth_us(&_pwmA, _period_us);
    pwmout_pulsewidth_us(&_pwmB, _period_us);
#endif
}