Diff: Engine.cpp

Revision:

0:2e73d45d090e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Engine.cpp	Tue Jun 14 12:32:39 2016 +0000
@@ -0,0 +1,44 @@
+#include "Engine.h"
+
+// przelicza procenty na pwn:
+// - wartosc poczatkowa - 0.2377,
+// - prog - 0.0077
+float Engine::getPwm(float speed){
+    if (speed == 0)
+        return 0;
+    else if (speed > 0)
+        return 0.2377f + (fabs(speed) - 1) * 0.0077f;
+    else
+        return 0.406f + (fabs(speed) - 1) * 0.006f;
+    }
+
+void Engine::move(int speed){
+    if (speed > 100)
+        speed =100;
+    else if (speed < -100)
+        speed = -100;
+    
+    if (speed == 0){
+        //soft stop
+        _fwd = 0;
+        _rev = 0;
+        return;
+        }
+            
+    if (speed < 0){
+        _fwd = 0;
+        _rev = 1;
+        }
+        
+    else{
+        _fwd = 1;
+        _rev = 0;
+        }
+    
+    _pwm = getPwm(speed);
+}
+
+//hard stop
+void Engine::stop(){
+    _pwm = 0;
+}
\ No newline at end of file